Open3D (C++ API)
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 registration {
41 
42 class Feature;
43 class RegistrationResult;
44 
46 public:
47  FastGlobalRegistrationOption(double division_factor = 1.4,
48  bool use_absolute_scale = false,
49  bool decrease_mu = true,
50  double maximum_correspondence_distance = 0.025,
51  int iteration_number = 64,
52  double tuple_scale = 0.95,
53  int maximum_tuple_count = 1000)
54  : division_factor_(division_factor),
55  use_absolute_scale_(use_absolute_scale),
56  decrease_mu_(decrease_mu),
57  maximum_correspondence_distance_(maximum_correspondence_distance),
58  iteration_number_(iteration_number),
59  tuple_scale_(tuple_scale),
60  maximum_tuple_count_(maximum_tuple_count) {}
62 
63 public:
64  // Division factor used for graduated non-convexity
66  // Measure distance in absolute scale (1) or in scale relative to the
67  // diameter of the model (0)
70  // Maximum correspondence distance (also see comment of USE_ABSOLUTE_SCALE)
72  // Maximum number of iterations
74  // Similarity measure used for tuples of feature points.
75  double tuple_scale_;
76  // Maximum tuple numbers.
78 };
79 
81  const geometry::PointCloud &source,
82  const geometry::PointCloud &target,
83  const Feature &source_feature,
84  const Feature &target_feature,
85  const FastGlobalRegistrationOption &option =
87 
88 } // namespace registration
89 } // namespace open3d
Definition: FastGlobalRegistration.h:45
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:47
Definition: PointCloud.h:49
~FastGlobalRegistrationOption()
Definition: FastGlobalRegistration.h:61
Class that contains the registration results.
Definition: Registration.h:85
Definition: PinholeCameraIntrinsic.cpp:34
bool decrease_mu_
Definition: FastGlobalRegistration.h:69
bool use_absolute_scale_
Definition: FastGlobalRegistration.h:68
int iteration_number_
Definition: FastGlobalRegistration.h:73
double maximum_correspondence_distance_
Definition: FastGlobalRegistration.h:71
int maximum_tuple_count_
Definition: FastGlobalRegistration.h:77
Definition: Feature.h:43
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:65
double tuple_scale_
Definition: FastGlobalRegistration.h:75