C++ (Cpp) registerModelToScene示例

示例#1

文件： icp.cpp 项目： ArtemSkrebkov/opencv_contrib

// source point clouds are assumed to contain their normals
int ICP::registerModelToScene(const Mat& srcPC, const Mat& dstPC, std::vector<Pose3DPtr>& poses)
{
  for (size_t i=0; i<poses.size(); i++)
  {
    double poseICP[16]={0};
    Mat srcTemp = transformPCPose(srcPC, poses[i]->pose);
    registerModelToScene(srcTemp, dstPC, poses[i]->residual, poseICP);
    poses[i]->appendPose(poseICP);
  }
  return 0;
}

示例#2

文件： icp.cpp 项目： AutomanHan/opencv_contrib

// source point clouds are assumed to contain their normals
int ICP::registerModelToScene(const Mat& srcPC, const Mat& dstPC, std::vector<Pose3DPtr>& poses)
{
  #if defined _OPENMP
  #pragma omp parallel for
  #endif
  for (int i=0; i<(int)poses.size(); i++)
  {
    Matx44d poseICP = Matx44d::eye();
    Mat srcTemp = transformPCPose(srcPC, poses[i]->pose);
    registerModelToScene(srcTemp, dstPC, poses[i]->residual, poseICP);
    poses[i]->appendPose(poseICP);
  }
  return 0;
}