30 #include <Eigen/Geometry>
44 namespace registration {
47 class RegistrationResult;
71 double division_factor = 1.4,
72 bool use_absolute_scale =
false,
73 bool decrease_mu =
true,
74 double maximum_correspondence_distance = 0.025,
75 int iteration_number = 64,
76 double tuple_scale = 0.95,
77 int maximum_tuple_count = 1000,
78 bool tuple_test =
true,
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:55
Options for FastGlobalRegistration.
Definition: FastGlobalRegistration.h:52
bool tuple_test_
Definition: FastGlobalRegistration.h:111
bool use_absolute_scale_
Definition: FastGlobalRegistration.h:96
int maximum_tuple_count_
Maximum number of tuples..
Definition: FastGlobalRegistration.h:108
bool decrease_mu_
Definition: FastGlobalRegistration.h:99
double maximum_correspondence_distance_
Definition: FastGlobalRegistration.h:102
~FastGlobalRegistrationOption()
Definition: FastGlobalRegistration.h:89
double division_factor_
Division factor used for graduated non-convexity.
Definition: FastGlobalRegistration.h:93
int iteration_number_
Maximum number of iterations.
Definition: FastGlobalRegistration.h:104
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, bool tuple_test=true, utility::optional< unsigned int > seed=utility::nullopt)
Parameterized Constructor.
Definition: FastGlobalRegistration.h:70
utility::optional< unsigned int > seed_
Random seed.
Definition: FastGlobalRegistration.h:113
double tuple_scale_
Similarity measure used for tuples of feature points.
Definition: FastGlobalRegistration.h:106
Class to store featrues for registration.
Definition: Feature.h:47
Definition: Registration.h:117
RegistrationResult FastGlobalRegistrationBasedOnCorrespondence(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres, const FastGlobalRegistrationOption &option)
Fast Global Registration based on a given set of correspondences.
Definition: FastGlobalRegistration.cpp:294
RegistrationResult FastGlobalRegistrationBasedOnFeatureMatching(const geometry::PointCloud &source, const geometry::PointCloud &target, const Feature &source_feature, const Feature &target_feature, const FastGlobalRegistrationOption &option)
Fast Global Registration based on a given set of FPFH features.
Definition: FastGlobalRegistration.cpp:341
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition: TransformationEstimation.h:46
constexpr nullopt_t nullopt
Definition: Optional.h:171
Definition: PinholeCameraIntrinsic.cpp:35