Open3D (C++ API)
FastGlobalRegistration.h
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26 
27 #pragma once
28 
29 #include <vector>
30 #include <tuple>
31 
32 #include <Eigen/Core>
33 #include <Eigen/Geometry>
34 
35 namespace open3d {
36 
37 namespace geometry {
38 class PointCloud;
39 }
40 
41 namespace registration {
42 
43 class Feature;
44 class RegistrationResult;
45 
47 public:
48  FastGlobalRegistrationOption(double division_factor = 1.4,
49  bool use_absolute_scale = false,
50  bool decrease_mu = true,
51  double maximum_correspondence_distance = 0.025,
52  int iteration_number = 64,
53  double tuple_scale = 0.95,
54  int maximum_tuple_count = 1000)
55  : division_factor_(division_factor),
56  use_absolute_scale_(use_absolute_scale),
57  decrease_mu_(decrease_mu),
58  maximum_correspondence_distance_(maximum_correspondence_distance),
59  iteration_number_(iteration_number),
60  tuple_scale_(tuple_scale),
61  maximum_tuple_count_(maximum_tuple_count) {}
63 
64 public:
65  // Division factor used for graduated non-convexity
67  // Measure distance in absolute scale (1) or in scale relative to the
68  // diameter of the model (0)
71  // Maximum correspondence distance (also see comment of USE_ABSOLUTE_SCALE)
73  // Maximum number of iterations
75  // Similarity measure used for tuples of feature points.
76  double tuple_scale_;
77  // Maximum tuple numbers.
79 };
80 
82  const geometry::PointCloud &source,
83  const geometry::PointCloud &target,
84  const Feature &source_feature,
85  const Feature &target_feature,
86  const FastGlobalRegistrationOption &option =
88 
89 } // namespace registration
90 } // namespace open3d
Definition: FastGlobalRegistration.h:46
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)
Definition: FastGlobalRegistration.h:48
Definition: PointCloud.h:47
~FastGlobalRegistrationOption()
Definition: FastGlobalRegistration.h:62
Class that contains the registration results.
Definition: Registration.h:85
Definition: PinholeCameraIntrinsic.cpp:33
bool decrease_mu_
Definition: FastGlobalRegistration.h:70
bool use_absolute_scale_
Definition: FastGlobalRegistration.h:69
int iteration_number_
Definition: FastGlobalRegistration.h:74
double maximum_correspondence_distance_
Definition: FastGlobalRegistration.h:72
int maximum_tuple_count_
Definition: FastGlobalRegistration.h:78
Definition: Feature.h:42
RegistrationResult FastGlobalRegistration(const geometry::PointCloud &source, const geometry::PointCloud &target, const Feature &source_feature, const Feature &target_feature, const FastGlobalRegistrationOption &option)
Definition: FastGlobalRegistration.cpp:339
double division_factor_
Definition: FastGlobalRegistration.h:66
double tuple_scale_
Definition: FastGlobalRegistration.h:76