Trait opencv::surface_matching::ICPTrait

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pub trait ICPTrait: ICPTraitConst {
    // Required method
    fn as_raw_mut_ICP(&mut self) -> *mut c_void;

    // Provided methods
    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> { ... }
}
Expand description

Mutable methods for crate::surface_matching::ICP

Required Methods§

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fn as_raw_mut_ICP(&mut self) -> *mut c_void

Provided Methods§

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fn register_model_to_scene( &mut self, src_pc: &Mat, dst_pc: &Mat, residual: &mut f64, pose: &mut Matx44d ) -> Result<i32>

\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).

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fn register_model_to_scene_vec( &mut self, src_pc: &Mat, dst_pc: &Mat, poses: &mut Vector<Pose3DPtr> ) -> Result<i32>

\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§