Trait opencv::surface_matching::ICPTraitConst

source · 
pub trait ICPTraitConst {
    fn as_raw_ICP(&self) -> *const c_void;
}
Expand description

This class implements a very efficient and robust variant of the iterative closest point (ICP) algorithm. The task is to register a 3D model (or point cloud) against a set of noisy target data. The variants are put together by myself after certain tests. The task is to be able to match partial, noisy point clouds in cluttered scenes, quickly. You will find that my emphasis is on the performance, while retaining the accuracy. This implementation is based on Tolga Birdal’s MATLAB implementation in here: http://www.mathworks.com/matlabcentral/fileexchange/47152-icp-registration-using-efficient-variants-and-multi-resolution-scheme The main contributions come from:

  1. Picky ICP: http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2003/Zinsser03-ARI.pdf
  2. Efficient variants of the ICP Algorithm: http://docs.happycoders.org/orgadoc/graphics/imaging/fasticp_paper.pdf
  3. Geometrically Stable Sampling for the ICP Algorithm: https://graphics.stanford.edu/papers/stabicp/stabicp.pdf
  4. Multi-resolution registration: http://www.cvl.iis.u-tokyo.ac.jp/~oishi/Papers/Alignment/Jost_MultiResolutionICP_3DIM03.pdf
  5. Linearization of Point-to-Plane metric by Kok Lim Low: https://www.comp.nus.edu.sg/~lowkl/publications/lowk_point-to-plane_icp_techrep.pdf

Required Methods

Implementors