Namespace Emgu.CV.PpfMatch3d

Classes

ICP

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.

PPF3DDetector

Class, allowing the load and matching 3D models.

Pose3D

Class, allowing the storage of a pose. The data structure stores both the quaternions and the matrix forms. It supports IO functionality together with various helper methods to work with poses.

PpfMatch3dInvoke

Entry points to the Open CV Surface Matching module

VectorOfPose3D

Wrapped class of the C++ standard vector of Pose3D.

Enums

ICP.SamplingType

The sampling type