ppf_helpers.hpp

[詳解]

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#ifndef __OPENCV_SURFACE_MATCHING_HELPERS_HPP__




#define __OPENCV_SURFACE_MATCHING_HELPERS_HPP__








#include <opencv2/core.hpp>








namespace

cv



{



namespace
ppf_match_3d


{










CV_EXPORTS_W
Mat
loadPLYSimple(const
char* fileName,
int
withNormals = 0);






CV_EXPORTS_W
void
writePLY(Mat
PC,
const
char* fileName);






CV_EXPORTS_W
void
writePLYVisibleNormals(Mat
PC,
const
char* fileName);







Mat
samplePCUniform(Mat
PC,
int
sampleStep);



Mat
samplePCUniformInd(Mat
PC,
int
sampleStep, std::vector<int>& indices);






CV_EXPORTS_W
Mat
samplePCByQuantization(Mat
pc,
Vec2f& xrange,
Vec2f& yrange,
Vec2f& zrange,
float
sample_step_relative,
int
weightByCenter=0);







void
computeBboxStd(Mat
pc,
Vec2f& xRange,
Vec2f& yRange,
Vec2f& zRange);







void* indexPCFlann(Mat
pc);



void
destroyFlann(void* flannIndex);



void
queryPCFlann(void* flannIndex,
Mat& pc,
Mat& indices,
Mat& distances);



void
queryPCFlann(void* flannIndex,
Mat& pc,
Mat& indices,
Mat& distances,
const
int
numNeighbors);







Mat
normalizePCCoeff(Mat
pc,
float
scale,
float* Cx,
float* Cy,
float* Cz,
float* MinVal,
float* MaxVal);



Mat
transPCCoeff(Mat
pc,
float
scale,
float
Cx,
float
Cy,
float
Cz,
float
MinVal,
float
MaxVal);






CV_EXPORTS_W
Mat
transformPCPose(Mat
pc,
const
Matx44d& Pose);






CV_EXPORTS_W
void
getRandomPose(Matx44d& Pose);






CV_EXPORTS_W
Mat
addNoisePC(Mat
pc,
double
scale);






CV_EXPORTS_W
int
computeNormalsPC3d(const
Mat& PC, CV_OUT
Mat& PCNormals,
const
int
NumNeighbors,
const
bool
FlipViewpoint,
const
Vec3f& viewpoint);










}
// namespace ppf_match_3d



}
// namespace cv








#endif