model

Vision.Matching.RGBDFeatureMatching

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
constant	`featureCapacity`	`Integer`	`= 350`
constant	`descriptorWidth`	`Integer`	`= 7`
constant	`descriptorSize`	`Integer`	`= descriptorWidth*descriptorWidth`
parameter	`ratio`	`Real`	`= 0.8`
parameter	`maximumDescriptorDistance`	`Real`	`= 0.8`
parameter	`maximumGeometricDistance`	`Real`	`= 0.5`
input	`referenceDescriptor`	`Real`	`[featureCapacity,descriptorSize]`
input	`currentDescriptor`	`Real`	`[featureCapacity,descriptorSize]`
input	`referencePoint`	`Real`	`[featureCapacity,3]`
input	`currentPoint`	`Real`	`[featureCapacity,3]`
input	`referenceEnabled`	`Real`	`[featureCapacity]`
input	`currentEnabled`	`Real`	`[featureCapacity]`
input	`referenceCount`	`Real`
input	`currentCount`	`Real`
input	`usePrediction`	`Real`	`= 0.0`
input	`predictedRotation`	`Real`	`[3,3] = identity(3)`
input	`predictedTranslation`	`Real`	`[3] = zeros(3)`
output	`currentIndex`	`Real`	`[featureCapacity]`
output	`pairEnabled`	`Real`	`[featureCapacity]`
output	`sourcePoint`	`Real`	`[featureCapacity,3]`
output	`targetPoint`	`Real`	`[featureCapacity,3]`
output	`count`	`Real`
output	`configurationValid`	`Real`
output	`invalidReference`	`Real`
output	`invalidCurrent`	`Real`
output	`nearestDistance`	`Real`	`[featureCapacity]`
output	`secondDistance`	`Real`	`[featureCapacity]`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

model RGBDFeatureMatching
  import MatchRGBDDescriptors = Vision.Matching.MatchRGBDDescriptors;

  constant Integer featureCapacity = 350;
  constant Integer descriptorWidth = 7;
  constant Integer descriptorSize = descriptorWidth*descriptorWidth;
  parameter Real ratio = 0.8;
  parameter Real maximumDescriptorDistance = 0.8;
  parameter Real maximumGeometricDistance = 0.5;
  input Real referenceDescriptor[featureCapacity,descriptorSize];
  input Real currentDescriptor[featureCapacity,descriptorSize];
  input Real referencePoint[featureCapacity,3];
  input Real currentPoint[featureCapacity,3];
  input Real referenceEnabled[featureCapacity];
  input Real currentEnabled[featureCapacity];
  input Real referenceCount;
  input Real currentCount;
  input Real usePrediction = 0.0;
  input Real predictedRotation[3,3] = identity(3);
  input Real predictedTranslation[3] = zeros(3);
  output Real currentIndex[featureCapacity];
  output Real pairEnabled[featureCapacity];
  output Real sourcePoint[featureCapacity,3];
  output Real targetPoint[featureCapacity,3];
  output Real count;
  output Real configurationValid;
  output Real invalidReference;
  output Real invalidCurrent;
  output Real nearestDistance[featureCapacity];
  output Real secondDistance[featureCapacity];
equation
  (currentIndex,pairEnabled,sourcePoint,targetPoint,count,configurationValid,invalidReference,invalidCurrent,nearestDistance,secondDistance) =
    MatchRGBDDescriptors(referenceDescriptor,currentDescriptor,referencePoint,currentPoint,referenceEnabled,currentEnabled,
      referenceCount,currentCount,ratio,maximumDescriptorDistance,usePrediction,predictedRotation,predictedTranslation,maximumGeometricDistance);
end RGBDFeatureMatching;