45 namespace registration {
65 double relative_rmse = 1e-6,
66 int max_iteration = 30)
101 double confidence = 0.999)
123 const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity())
156 double max_correspondence_distance,
157 const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity());
172 double max_correspondence_distance,
173 const Eigen::Matrix4d &init = Eigen::Matrix4d::Identity(),
195 double max_correspondence_distance,
199 const std::vector<std::reference_wrapper<const CorrespondenceChecker>>
201 const RANSACConvergenceCriteria &criteria = RANSACConvergenceCriteria(),
221 const Feature &source_feature,
222 const Feature &target_feature,
224 double max_correspondence_distance,
225 const TransformationEstimation &estimation =
226 TransformationEstimationPointToPoint(
false),
228 const std::vector<std::reference_wrapper<const CorrespondenceChecker>>
230 const RANSACConvergenceCriteria &criteria = RANSACConvergenceCriteria(),
241 double max_correspondence_distance,
242 const Eigen::Matrix4d &transformation);
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:55
Class that defines the convergence criteria of ICP.
Definition: Registration.h:55
double relative_rmse_
Definition: Registration.h:78
ICPConvergenceCriteria(double relative_fitness=1e-6, double relative_rmse=1e-6, int max_iteration=30)
Parameterized Constructor.
Definition: Registration.h:64
~ICPConvergenceCriteria()
Definition: Registration.h:70
int max_iteration_
Maximum iteration before iteration stops.
Definition: Registration.h:80
double relative_fitness_
Definition: Registration.h:75
Class that defines the convergence criteria of RANSAC.
Definition: Registration.h:93
double confidence_
Desired probability of success.
Definition: Registration.h:111
RANSACConvergenceCriteria(int max_iteration=100000, double confidence=0.999)
Parameterized Constructor.
Definition: Registration.h:100
~RANSACConvergenceCriteria()
Definition: Registration.h:105
int max_iteration_
Maximum iteration before iteration stops.
Definition: Registration.h:109
Definition: Registration.h:117
bool IsBetterRANSACThan(const RegistrationResult &other) const
Definition: Registration.h:126
RegistrationResult(const Eigen::Matrix4d &transformation=Eigen::Matrix4d::Identity())
Parameterized Constructor.
Definition: Registration.h:122
CorrespondenceSet correspondence_set_
Correspondence set between source and target point cloud.
Definition: Registration.h:135
~RegistrationResult()
Definition: Registration.h:125
double fitness_
Definition: Registration.h:142
Eigen::Matrix4d_u transformation_
The estimated transformation matrix.
Definition: Registration.h:133
double inlier_rmse_
RMSE of all inlier correspondences. Lower is better.
Definition: Registration.h:137
Eigen::Matrix6d GetInformationMatrixFromPointClouds(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &transformation)
Definition: Registration.cpp:380
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:111
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:127
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition: TransformationEstimation.h:46
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, utility::optional< unsigned int > seed)
Function for global RANSAC registration based on a given set of correspondences.
Definition: Registration.cpp:189
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, utility::optional< unsigned int > seed)
Function for global RANSAC registration based on feature matching.
Definition: Registration.cpp:302
constexpr nullopt_t nullopt
Definition: Optional.h:171
Definition: PinholeCameraIntrinsic.cpp:35