43 namespace registration {
53 double relative_rmse = 1e-6,
54 int max_iteration = 30)
55 : relative_fitness_(relative_fitness),
56 relative_rmse_(relative_rmse),
57 max_iteration_(max_iteration) {}
75 int max_validation = 1000)
76 : max_iteration_(max_iteration), max_validation_(max_validation) {}
88 const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity())
89 : transformation_(transformation), inlier_rmse_(0.0), fitness_(0.0) {}
103 double max_correspondence_distance,
104 const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity());
110 double max_correspondence_distance,
111 const Eigen::Matrix4d &init = Eigen::Matrix4d::Identity(),
122 double max_correspondence_distance,
135 double max_correspondence_distance,
139 const std::vector<std::reference_wrapper<const CorrespondenceChecker>>
148 double max_correspondence_distance,
149 const Eigen::Matrix4d &transformation);
double inlier_rmse_
Definition: Registration.h:95
int max_validation_
Definition: Registration.h:81
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:147
int max_iteration_
Definition: Registration.h:80
Eigen::Matrix6d GetInformationMatrixFromPointClouds(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &transformation)
Function for computing information matrix from transformation matrix.
Definition: Registration.cpp:374
RegistrationResult EvaluateRegistration(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &transformation)
Function for evaluation.
Definition: Registration.cpp:131
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition: TransformationEstimation.h:42
Definition: PointCloud.h:47
CorrespondenceSet correspondence_set_
Definition: Registration.h:94
~ICPConvergenceCriteria()
Definition: Registration.h:58
RegistrationResult RegistrationRANSACBasedOnFeatureMatching(const geometry::PointCloud &source, const geometry::PointCloud &target, const Feature &source_feature, const Feature &target_feature, 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:242
~RegistrationResult()
Definition: Registration.h:90
Class that contains the registration results.
Definition: Registration.h:85
RegistrationResult(const Eigen::Matrix4d &transformation=Eigen::Matrix4d::Identity())
Definition: Registration.h:87
Definition: Registration.h:72
Definition: PinholeCameraIntrinsic.cpp:33
double fitness_
Definition: Registration.h:96
double relative_rmse_
Definition: Registration.h:62
Eigen::Matrix4d_u transformation_
Definition: Registration.h:93
ICPConvergenceCriteria(double relative_fitness=1e-6, double relative_rmse=1e-6, int max_iteration=30)
Definition: Registration.h:52
RANSACConvergenceCriteria(int max_iteration=1000, int max_validation=1000)
Definition: Registration.h:74
~RANSACConvergenceCriteria()
Definition: Registration.h:77
Eigen::Matrix< double, 4, 4, Eigen::DontAlign > Matrix4d_u
Definition: Eigen.h:43
double relative_fitness_
Definition: Registration.h:61
int max_iteration_
Definition: Registration.h:63
RegistrationResult RegistrationRANSACBasedOnCorrespondence(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres, double max_correspondence_distance, const TransformationEstimation &estimation, int ransac_n, const RANSACConvergenceCriteria &criteria)
Definition: Registration.cpp:200
Definition: Registration.h:50
Eigen::Matrix< double, 6, 6 > Matrix6d
Extending Eigen namespace by adding frequently used matrix type.
Definition: Eigen.h:37