Method RegisterModelToScene

Namespace

OpenCvSharp.PpfMatch3D

Assembly

OpenCvSharp.dll

RegisterModelToScene(InputArray, InputArray, out double, out Mat)

Registers a source point cloud to a destination point cloud.

public int RegisterModelToScene(InputArray sourcePointCloud, InputArray destinationPointCloud, out double residual, out Mat pose)

Parameters

sourcePointCloud InputArray

Source point cloud as an N-by-6 CV_32F matrix containing XYZ coordinates and normals.

destinationPointCloud InputArray

Destination point cloud as an N-by-6 CV_32F matrix containing XYZ coordinates and normals.

residual double

Output registration error.

pose Mat

Output 4-by-4 CV_64F transformation from the source point cloud to the destination point cloud.

Returns

int

Zero on success.