ppf_helpers.hpp#

#include <opencv2/core.hpp>

Include dependency graph for ppf_helpers.hpp:

Namespaces#

namespace cv

namespace cv::ppf_match_3d

Functions#

Mat cv::ppf_match_3d::addNoisePC (Mat pc, double scale)

void cv::ppf_match_3d::computeBboxStd (Mat pc, Vec2f &xRange, Vec2f &yRange, Vec2f &zRange)

int cv::ppf_match_3d::computeNormalsPC3d (const Mat &PC, Mat &PCNormals, const int NumNeighbors, const bool FlipViewpoint, const Vec3f &viewpoint)

Compute the normals of an arbitrary point cloud computeNormalsPC3d uses a plane fitting approach to smoothly compute local normals. Normals are obtained through the eigenvector of the covariance matrix, corresponding to the smallest eigen value. If PCNormals is provided to be an Nx6 matrix, then no new allocation is made, instead the existing memory is overwritten.

void cv::ppf_match_3d::destroyFlann (void *flannIndex)

void cv::ppf_match_3d::getRandomPose (Matx44d &Pose)

void * cv::ppf_match_3d::indexPCFlann (Mat pc)

Mat cv::ppf_match_3d::loadPLYSimple (const char *fileName, int withNormals=0)

Load a PLY file.

Mat cv::ppf_match_3d::normalizePCCoeff (Mat pc, float scale, float *Cx, float *Cy, float *Cz, float *MinVal, float *MaxVal)

void cv::ppf_match_3d::queryPCFlann (void *flannIndex, Mat &pc, Mat &indices, Mat &distances)

void cv::ppf_match_3d::queryPCFlann (void *flannIndex, Mat &pc, Mat &indices, Mat &distances, const int numNeighbors)

Mat cv::ppf_match_3d::samplePCByQuantization (Mat pc, Vec2f &xrange, Vec2f &yrange, Vec2f &zrange, float sample_step_relative, int weightByCenter=0)

Mat cv::ppf_match_3d::samplePCUniform (Mat PC, int sampleStep)

Mat cv::ppf_match_3d::samplePCUniformInd (Mat PC, int sampleStep, std::vector< int > &indices)

Mat cv::ppf_match_3d::transformPCPose (Mat pc, const Matx44d &Pose)

Mat cv::ppf_match_3d::transPCCoeff (Mat pc, float scale, float Cx, float Cy, float Cz, float MinVal, float MaxVal)

void cv::ppf_match_3d::writePLY (Mat PC, const char *fileName)

Write a point cloud to PLY file.

void cv::ppf_match_3d::writePLYVisibleNormals (Mat PC, const char *fileName)

Used for debbuging pruposes, writes a point cloud to a PLY file with the tip of the normal vectors as visible red points.