44 namespace registration {
64 double relative_rmse = 1e-6,
65 int max_iteration = 30)
66 : relative_fitness_(relative_fitness),
67 relative_rmse_(relative_rmse),
68 max_iteration_(max_iteration) {}
100 double confidence = 0.999)
101 : max_iteration_(max_iteration), confidence_(confidence) {}
121 const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity())
122 : transformation_(transformation), inlier_rmse_(0.0), fitness_(0.0) {}
154 double max_correspondence_distance,
155 const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity());
170 double max_correspondence_distance,
171 const Eigen::Matrix4d &init = Eigen::Matrix4d::Identity(),
192 double max_correspondence_distance,
196 const std::vector<std::reference_wrapper<const CorrespondenceChecker>>
220 double max_correspondence_distance,
224 const std::vector<std::reference_wrapper<const CorrespondenceChecker>>
237 double max_correspondence_distance,
238 const Eigen::Matrix4d &transformation);
Class that defines the convergence criteria of RANSAC.
Definition: Registration.h:91
int max_iteration_
Maximum iteration before iteration stops.
Definition: Registration.h:107
Class that defines the convergence criteria of ICP.
Definition: Registration.h:54
RegistrationResult RegistrationRANSACBasedOnCorrespondence(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres, double max_correspondence_distance, const TransformationEstimation &estimation, int ransac_n, const std::vector< std::reference_wrapper< const CorrespondenceChecker >> &checkers, const RANSACConvergenceCriteria &criteria)
Function for global RANSAC registration based on a given set of correspondences.
Definition: Registration.cpp:189
bool IsBetterRANSACThan(const RegistrationResult &other) const
Definition: Registration.h:124
RegistrationResult(const Eigen::Matrix4d &transformation=Eigen::Matrix4d::Identity())
Parameterized Constructor.
Definition: Registration.h:120
A point cloud consists of point coordinates, and optionally point colors and point normals...
Definition: PointCloud.h:54
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition: TransformationEstimation.h:46
RegistrationResult EvaluateRegistration(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &transformation)
Function for evaluating registration between point clouds.
Definition: Registration.cpp:118
double relative_fitness_
Definition: Registration.h:74
Class to store featrues for registration.
Definition: Feature.h:47
RANSACConvergenceCriteria(int max_iteration=100000, double confidence=0.999)
Parameterized Constructor.
Definition: Registration.h:99
Definition: PinholeCameraIntrinsic.cpp:35
Definition: Registration.h:115
int max_iteration_
Maximum iteration before iteration stops.
Definition: Registration.h:79
double inlier_rmse_
RMSE of all inlier correspondences. Lower is better.
Definition: Registration.h:135
RegistrationResult RegistrationRANSACBasedOnFeatureMatching(const geometry::PointCloud &source, const geometry::PointCloud &target, const Feature &source_feature, const Feature &target_feature, bool mutual_filter, double max_correspondence_distance, const TransformationEstimation &estimation, int ransac_n, const std::vector< std::reference_wrapper< const CorrespondenceChecker >> &checkers, const RANSACConvergenceCriteria &criteria)
Function for global RANSAC registration based on feature matching.
Definition: Registration.cpp:275
~RegistrationResult()
Definition: Registration.h:123
Eigen::Matrix4d_u transformation_
The estimated transformation matrix.
Definition: Registration.h:131
ICPConvergenceCriteria(double relative_fitness=1e-6, double relative_rmse=1e-6, int max_iteration=30)
Parameterized Constructor.
Definition: Registration.h:63
Eigen::Matrix6d GetInformationMatrixFromPointClouds(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &transformation)
Definition: Registration.cpp:352
RegistrationResult RegistrationICP(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &init, const TransformationEstimation &estimation, const ICPConvergenceCriteria &criteria)
Functions for ICP registration.
Definition: Registration.cpp:134
~RANSACConvergenceCriteria()
Definition: Registration.h:103
double confidence_
Desired probability of success.
Definition: Registration.h:109
double relative_rmse_
Definition: Registration.h:77
~ICPConvergenceCriteria()
Definition: Registration.h:69
double fitness_
Definition: Registration.h:140
CorrespondenceSet correspondence_set_
Correspondence set between source and target point cloud.
Definition: Registration.h:133