Open3D (C++ API)  0.12.0
FastGlobalRegistration.h
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26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <Eigen/Geometry>
31 #include <tuple>
32 #include <vector>
33 
34 namespace open3d {
35 
36 namespace geometry {
37 class PointCloud;
38 }
39 
40 namespace pipelines {
41 namespace registration {
42 
43 class Feature;
44 class RegistrationResult;
45 
50 public:
64  FastGlobalRegistrationOption(double division_factor = 1.4,
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) {}
79 
80 public:
95  double tuple_scale_;
98 };
99 
101  const geometry::PointCloud &source,
102  const geometry::PointCloud &target,
103  const Feature &source_feature,
104  const Feature &target_feature,
105  const FastGlobalRegistrationOption &option =
107 
108 } // namespace registration
109 } // namespace pipelines
110 } // namespace open3d
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
~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