View Source Evision.PPFMatch3D.ICP (Evision v0.1.28)

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Types

t()

Type that represents an PPFMatch3D.ICP struct.

Link to this section Types

@type t() :: %Evision.PPFMatch3D.ICP{ref: reference()}

Type that represents an PPFMatch3D.ICP struct.

  • ref. reference()

    The underlying erlang resource variable.

Link to this section Functions

@spec iCP() :: t() | {:error, String.t()}

ICP

Return
  • self: ICP

Python prototype (for reference only):

ICP() -> <ppf_match_3d_ICP object>
@spec iCP(integer()) :: t() | {:error, String.t()}

ICP

Positional Arguments
  • iterations: int
Keyword Arguments
  • tolerence: float.
  • rejectionScale: float.
  • numLevels: int.
  • sampleType: int.
  • numMaxCorr: int.
Return
  • self: ICP

    \brief ICP constructor with default arguments.

Python prototype (for reference only):

ICP(iterations[, tolerence[, rejectionScale[, numLevels[, sampleType[, numMaxCorr]]]]]) -> <ppf_match_3d_ICP object>
@spec iCP(integer(), [{atom(), term()}, ...] | nil) :: t() | {:error, String.t()}

ICP

Positional Arguments
  • iterations: int
Keyword Arguments
  • tolerence: float.
  • rejectionScale: float.
  • numLevels: int.
  • sampleType: int.
  • numMaxCorr: int.
Return
  • self: ICP

    \brief ICP constructor with default arguments.

Python prototype (for reference only):

ICP(iterations[, tolerence[, rejectionScale[, numLevels[, sampleType[, numMaxCorr]]]]]) -> <ppf_match_3d_ICP object>
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registerModelToScene(self, srcPC, dstPC)

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@spec registerModelToScene(
  t(),
  Evision.Mat.maybe_mat_in(),
  Evision.Mat.maybe_mat_in()
) ::
  {integer(), number(), Evision.Mat.t()} | {:error, String.t()}

registerModelToScene

Positional Arguments
  • self: Evision.PPFMatch3D.ICP.t()
  • srcPC: Evision.Mat.t()
  • dstPC: Evision.Mat.t()
Return
  • retval: int

  • residual: double

  • pose: Evision.Mat.t()

    \brief Perform registration

    \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).

Python prototype (for reference only):

registerModelToScene(srcPC, dstPC) -> retval, residual, pose
Link to this function

registerModelToScene(self, srcPC, dstPC, poses)

View Source
@spec registerModelToScene(
  t(),
  Evision.Mat.maybe_mat_in(),
  Evision.Mat.maybe_mat_in(),
  [
    Evision.PPFMatch3D.Pose3D.t()
  ]
) :: {integer(), [Evision.PPFMatch3D.Pose3D.t()]} | {:error, String.t()}

registerModelToScene

Positional Arguments
  • self: Evision.PPFMatch3D.ICP.t()
  • srcPC: Evision.Mat.t()
  • dstPC: Evision.Mat.t()
Return
  • retval: int

  • poses: [Evision.PPFMatch3D.Pose3D]

    \brief Perform registration with multiple initial poses

    \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).

Python prototype (for reference only):

registerModelToScene(srcPC, dstPC, poses) -> retval, poses