30 #include <Eigen/Geometry> 41 namespace registration {
44 class RegistrationResult;
65 bool use_absolute_scale =
false,
66 bool decrease_mu =
true,
67 double maximum_correspondence_distance = 0.025,
68 int iteration_number = 64,
69 double tuple_scale = 0.95,
70 int maximum_tuple_count = 1000)
71 : division_factor_(division_factor),
72 use_absolute_scale_(use_absolute_scale),
73 decrease_mu_(decrease_mu),
74 maximum_correspondence_distance_(maximum_correspondence_distance),
75 iteration_number_(iteration_number),
76 tuple_scale_(tuple_scale),
77 maximum_tuple_count_(maximum_tuple_count) {}
RegistrationResult FastGlobalRegistration(const geometry::PointCloud &source, const geometry::PointCloud &target, const Feature &source_feature, const Feature &target_feature, const FastGlobalRegistrationOption &option)
Definition: FastGlobalRegistration.cpp:332
int maximum_tuple_count_
Maximum number of tuples..
Definition: FastGlobalRegistration.h:97
FastGlobalRegistrationOption(double division_factor=1.4, bool use_absolute_scale=false, bool decrease_mu=true, double maximum_correspondence_distance=0.025, int iteration_number=64, double tuple_scale=0.95, int maximum_tuple_count=1000)
Parameterized Constructor.
Definition: FastGlobalRegistration.h:64
bool decrease_mu_
Definition: FastGlobalRegistration.h:88
A point cloud consists of point coordinates, and optionally point colors and point normals...
Definition: PointCloud.h:54
double division_factor_
Division factor used for graduated non-convexity.
Definition: FastGlobalRegistration.h:82
Options for FastGlobalRegistration.
Definition: FastGlobalRegistration.h:49
Class to store featrues for registration.
Definition: Feature.h:47
int iteration_number_
Maximum number of iterations.
Definition: FastGlobalRegistration.h:93
double maximum_correspondence_distance_
Definition: FastGlobalRegistration.h:91
Definition: PinholeCameraIntrinsic.cpp:35
Definition: Registration.h:115
~FastGlobalRegistrationOption()
Definition: FastGlobalRegistration.h:78
double tuple_scale_
Similarity measure used for tuples of feature points.
Definition: FastGlobalRegistration.h:95
bool use_absolute_scale_
Definition: FastGlobalRegistration.h:85