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Wrap ICP for Python

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This commit is contained in:
Hamdi Sahloul
2017-02-21 22:20:17 +09:00
parent b11ce40e0b
commit acb88d755d
3 changed files with 73 additions and 21 deletions
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14
modules/surface_matching/include/opencv2/surface_matching/icp.hpp
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@@ -77,17 +77,17 @@ namespace ppf_match_3d
* 5. Linearization of Point-to-Plane metric by Kok Lim Low:
* https://www.comp.nus.edu.sg/~lowkl/publications/lowk_point-to-plane_icp_techrep.pdf
*/
class CV_EXPORTS ICP
class CV_EXPORTS_W ICP
{
public:
enum ICP_SAMPLING_TYPE
CV_WRAP enum
{
ICP_SAMPLING_TYPE_UNIFORM,
ICP_SAMPLING_TYPE_GELFAND
ICP_SAMPLING_TYPE_UNIFORM = 0,
ICP_SAMPLING_TYPE_GELFAND = 1
};
ICP()
CV_WRAP ICP()
{
m_tolerance = 0.005f;
m_rejectionScale = 2.5f;
@@ -114,7 +114,7 @@ public:
applied. Leave it as 0.
* @param [in] numMaxCorr Currently this parameter is ignored and only PickyICP is applied. Leave it as 1.
*/
ICP(const int iterations, const float tolerence=0.05, const float rejectionScale=2.5, const int numLevels=6, const ICP_SAMPLING_TYPE sampleType = ICP_SAMPLING_TYPE_UNIFORM, const int numMaxCorr=1)
CV_WRAP ICP(const int iterations, const float tolerence = 0.05f, const float rejectionScale = 2.5f, const int numLevels = 6, const int sampleType = ICP::ICP_SAMPLING_TYPE_UNIFORM, const int numMaxCorr = 1)
{
m_tolerance = tolerence;
m_numNeighborsCorr = numMaxCorr;
@@ -136,7 +136,7 @@ public:
*
* \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).
*/
int registerModelToScene(const Mat& srcPC, const Mat& dstPC, double& residual, double pose[16]);
CV_WRAP int registerModelToScene(const Mat& srcPC, const Mat& dstPC, CV_OUT double& residual, CV_OUT Matx44d& pose);
/**
* \brief Perform registration with multiple initial poses