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

ICP

Return

• self: ICP

Python prototype (for reference only):

ICP() -> <ppf_match_3d_ICP object>

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

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

ICP

Positional Arguments

• iterations: integer()

Keyword Arguments

• tolerence: float.
• rejectionScale: float.
• numLevels: integer().
• sampleType: integer().
• numMaxCorr: integer().

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(),
  [
    numLevels: term(),
    numMaxCorr: term(),
    rejectionScale: term(),
    sampleType: term(),
    tolerence: term()
  ]
  | nil
) :: t() | {:error, String.t()}

ICP

Positional Arguments

• iterations: integer()

Keyword Arguments

• tolerence: float.
• rejectionScale: float.
• numLevels: integer().
• sampleType: integer().
• numMaxCorr: integer().

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 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
• dstPC: Evision.Mat

Return

• retval: integer()

• 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

@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
• dstPC: Evision.Mat

Return

• retval: integer()

• 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