Trait opencv::prelude::ICPTrait

source · [−]
pub trait ICPTrait: ICPTraitConst {
    fn as_raw_mut_ICP(&mut self) -> *mut c_void;

    fn register_model_to_scene(
        &mut self,
        src_pc: &Mat,
        dst_pc: &Mat,
        residual: &mut f64,
        pose: &mut Matx44d
    ) -> Result<i32> { ... }
    fn register_model_to_scene_vec(
        &mut self,
        src_pc: &Mat,
        dst_pc: &Mat,
        poses: &mut Vector<Pose3DPtr>
    ) -> Result<i32> { ... }
}

Required Methods

Provided Methods

\brief Perform registration

Parameters
  • srcPC: The input point cloud for the model. Expected to have the normals (Nx6). Currently, CV_32F is the only supported data type.
  • dstPC: The input point cloud for the scene. It is assumed that the model is registered on the scene. Scene remains static. Expected to have the normals (Nx6). Currently, CV_32F is the only supported data type.
  • residual:[out] The output registration error.
  • pose:[out] Transformation between srcPC and dstPC. \return On successful termination, the function returns 0.

\details It is assumed that the model is registered on the scene. Scene remains static, while the model transforms. The output poses transform the models onto the scene. Because of the point to plane minimization, the scene is expected to have the normals available. Expected to have the normals (Nx6).

\brief Perform registration with multiple initial poses

Parameters
  • srcPC: The input point cloud for the model. Expected to have the normals (Nx6). Currently, CV_32F is the only supported data type.
  • dstPC: The input point cloud for the scene. Currently, CV_32F is the only supported data type. @param [in,out] poses Input poses to start with but also list output of poses. \return On successful termination, the function returns 0.

\details It is assumed that the model is registered on the scene. Scene remains static, while the model transforms. The output poses transform the models onto the scene. Because of the point to plane minimization, the scene is expected to have the normals available. Expected to have the normals (Nx6).

Implementors