ACloudViewer  3.9.4
A Modern Library for 3D Data Processing
Public Member Functions | List of all members
fgr::CApp Class Reference

#include <FastGlobalRegistration.h>

Public Member Functions

 CApp (double div_factor=1.4, bool use_absolute_scale=false, double max_corr_dist=0.025, int iteration_number=64, float tuple_scale=0.95f, size_t tuple_max_cnt=1000)
 
void LoadFeature (const Points &pts, const Features &feat)
 
void NormalizePoints ()
 
void AdvancedMatching (bool crossCheck=true, bool tupleConstraint=true)
 
bool OptimizePairwise (bool decrease_mu=true)
 
Eigen::Matrix4f GetOutputTrans () const
 

Detailed Description

Definition at line 18 of file FastGlobalRegistration.h.

Constructor & Destructor Documentation

◆ CApp()

fgr::CApp::CApp ( double  div_factor = 1.4,
bool  use_absolute_scale = false,
double  max_corr_dist = 0.025,
int  iteration_number = 64,
float  tuple_scale = 0.95f,
size_t  tuple_max_cnt = 1000 
)
inline

Definition at line 20 of file FastGlobalRegistration.h.

Member Function Documentation

◆ AdvancedMatching()

void CApp::AdvancedMatching ( bool  crossCheck = true,
bool  tupleConstraint = true 
)

BUILD FLANNTREE

INITIAL MATCHING

TUPLE CONSTRAINT

Definition at line 101 of file FastGlobalRegistration.cpp.

References AlignedIndex, BuildKDTree(), NULL, CVLog::Print(), ReferenceIndex, SearchKDTree(), Similar(), size, and std::swap().

Referenced by FastGlobalRegistrationFilter::compute().

◆ GetOutputTrans()

Eigen::Matrix4f CApp::GetOutputTrans ( ) const

Definition at line 382 of file FastGlobalRegistration.cpp.

References AlignedIndex, and ReferenceIndex.

Referenced by FastGlobalRegistrationFilter::compute().

◆ LoadFeature()

void CApp::LoadFeature ( const Points &  pts,
const Features &  feat 
)

Definition at line 34 of file FastGlobalRegistration.cpp.

Referenced by FastGlobalRegistrationFilter::compute().

◆ NormalizePoints()

void CApp::NormalizePoints ( )

Definition at line 239 of file FastGlobalRegistration.cpp.

Referenced by FastGlobalRegistrationFilter::compute().

◆ OptimizePairwise()

bool CApp::OptimizePairwise ( bool  decrease_mu = true)

Definition at line 289 of file FastGlobalRegistration.cpp.

References AlignedIndex, ReferenceIndex, result, and TransformPoints().

Referenced by FastGlobalRegistrationFilter::compute().

The documentation for this class was generated from the following files: