package
Vision.Registration
Rigid point-pair registration and geometric checks
Fit a rigid transformation
FitRigidPointPairs fits source/target point pairs; the RigidPointRegistration model exposes the same fit with array inputs and diagnostics. FitRigidPointPairsRobust adds robust pair handling.
Supply points in declared coordinates, active-count bounds and explicit pair masks. Check acceptance, rejection reason, rank and residual before using the rotation and translation. A small RMS with insufficient geometric rank is not a fully constrained pose. Registration estimates geometry; observation uncertainty is handled by the localization layer.
Members
| Name | Kind | Description |
|---|---|---|
| FitRigidPointPairs | function | |
| FitRigidPointPairsRobust | function | |
| RegistrationEigen4 | function | |
| RegistrationPairResidual | function | |
| RegistrationWhitenedResidual3 | function | |
| RigidPointRegistration | model | |
| RegistrationWeighted | package |
Modelica declarations and implementation
Show parameters, interfaces and source
Parameters, inputs, outputs, defaults and equations from the source file.
package Registration
"Rigid point-pair registration and geometric checks"
annotation(Documentation(info = "<html>
<h4>Fit a rigid transformation</h4>
<p><a href=\"modelica://Vision.Registration.FitRigidPointPairs\">FitRigidPointPairs</a>
fits source/target point pairs; the
<a href=\"modelica://Vision.Registration.RigidPointRegistration\">RigidPointRegistration</a>
model exposes the same fit with array inputs and diagnostics.
<a href=\"modelica://Vision.Registration.FitRigidPointPairsRobust\">FitRigidPointPairsRobust</a>
adds robust pair handling.</p>
<p>Supply points in declared coordinates, active-count bounds and explicit
pair masks. Check acceptance, rejection reason, rank and residual before using
the rotation and translation. A small RMS with insufficient geometric rank is
not a fully constrained pose. Registration estimates geometry; observation
uncertainty is handled by the
<a href=\"modelica://SLAM.Localization.RGBDRegistrationUncertainty\">localization layer</a>.</p>
</html>"));
end Registration;