OpenCV 4.5.3(日本語機械翻訳)
icp.hpp
[詳解]
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46 #ifndef __OPENCV_SURFACE_MATCHING_ICP_HPP__
47 #define __OPENCV_SURFACE_MATCHING_ICP_HPP__
48
49 #include <opencv2/core.hpp>
50
51 #include "pose_3d.hpp"
52 #include <vector>
53
54 namespace cv
55{
56 namespace ppf_match_3d
57{
58
61
80 class CV_EXPORTS_W ICP
81{
82 public:
83
84 CV_WRAP enum
85 {
86 ICP_SAMPLING_TYPE_UNIFORM = 0,
87 ICP_SAMPLING_TYPE_GELFAND = 1
88 };
89
90 CV_WRAP ICP()
91 {
92 m_tolerance = 0.005f;
93 m_rejectionScale = 2.5f;
94 m_maxIterations = 250;
95 m_numLevels = 6;
96 m_sampleType = ICP_SAMPLING_TYPE_UNIFORM;
97 m_numNeighborsCorr = 1;
98 }
99
100 virtual ~ICP() { }
101
117 CV_WRAP ICP(const int iterations, const float tolerence = 0.05f, const float rejectionScale = 2.5f, const int numLevels = 6, const int sampleType = ICP::ICP_SAMPLING_TYPE_UNIFORM, const int numMaxCorr = 1)
118 {
119 m_tolerance = tolerence;
120 m_numNeighborsCorr = numMaxCorr;
121 m_rejectionScale = rejectionScale;
122 m_maxIterations = iterations;
123 m_numLevels = numLevels;
124 m_sampleType = sampleType;
125 }
126
139 CV_WRAP int registerModelToScene(const Mat& srcPC, const Mat& dstPC, CV_OUT double& residual, CV_OUT Matx44d& pose);
140
152 CV_WRAP int registerModelToScene(const Mat& srcPC, const Mat& dstPC, CV_IN_OUT std::vector<Pose3DPtr>& poses);
153
154 private:
155 float m_tolerance;
156 int m_maxIterations;
157 float m_rejectionScale;
158 int m_numNeighborsCorr;
159 int m_numLevels;
160 int m_sampleType;
161
162};
163
165
166} // namespace ppf_match_3d
167
168} // namespace cv
169
170 #endif
cv::Mat
n-dimensional dense array class
Definition: mat.hpp:802
cv::Matx
Template class for small matrices whose type and size are known at compilation time
Definition: matx.hpp:100
cv::ppf_match_3d::ICP
This class implements a very efficient and robust variant of the iterative closest point (ICP) algori...
Definition: icp.hpp:81
cv
"black box" representation of the file storage associated with a file on disk.
Definition: aruco.hpp:75
pose_3d.hpp
構築: doxygen 1.9.2