Open3D (C++ API)  0.19.0
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FastGlobalRegistration.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2024 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <Eigen/Core>
11#include <Eigen/Geometry>
12#include <tuple>
13#include <vector>
14
17
18namespace open3d {
19
20namespace geometry {
21class PointCloud;
22}
23
24namespace pipelines {
25namespace registration {
26
27class Feature;
28class RegistrationResult;
29
34public:
50 FastGlobalRegistrationOption(double division_factor = 1.4,
51 bool use_absolute_scale = false,
52 bool decrease_mu = true,
53 double maximum_correspondence_distance = 0.025,
54 int iteration_number = 64,
55 double tuple_scale = 0.95,
56 int maximum_tuple_count = 1000,
57 bool tuple_test = true)
58 : division_factor_(division_factor),
59 use_absolute_scale_(use_absolute_scale),
60 decrease_mu_(decrease_mu),
61 maximum_correspondence_distance_(maximum_correspondence_distance),
62 iteration_number_(iteration_number),
63 tuple_scale_(tuple_scale),
64 maximum_tuple_count_(maximum_tuple_count),
65 tuple_test_(tuple_test) {}
67
68public:
89};
90
98 const geometry::PointCloud &source,
100 const CorrespondenceSet &corres,
101 const FastGlobalRegistrationOption &option =
103
111 const geometry::PointCloud &source,
113 const Feature &source_feature,
114 const Feature &target_feature,
115 const FastGlobalRegistrationOption &option =
117
118} // namespace registration
119} // namespace pipelines
120} // namespace open3d
Real target
Definition SurfaceReconstructionPoisson.cpp:267
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition PointCloud.h:36
Options for FastGlobalRegistration.
Definition FastGlobalRegistration.h:33
bool tuple_test_
Definition FastGlobalRegistration.h:88
bool use_absolute_scale_
Definition FastGlobalRegistration.h:73
int maximum_tuple_count_
Maximum number of tuples..
Definition FastGlobalRegistration.h:85
bool decrease_mu_
Definition FastGlobalRegistration.h:76
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)
Parameterized Constructor.
Definition FastGlobalRegistration.h:50
double maximum_correspondence_distance_
Definition FastGlobalRegistration.h:79
~FastGlobalRegistrationOption()
Definition FastGlobalRegistration.h:66
double division_factor_
Division factor used for graduated non-convexity.
Definition FastGlobalRegistration.h:70
int iteration_number_
Maximum number of iterations.
Definition FastGlobalRegistration.h:81
double tuple_scale_
Similarity measure used for tuples of feature points.
Definition FastGlobalRegistration.h:83
Class to store featrues for registration.
Definition Feature.h:30
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:275
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition Feature.h:25
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:316
Definition PinholeCameraIntrinsic.cpp:16