FastGlobalRegistration.cpp File Reference

#include "pipelines/registration/FastGlobalRegistration.h"
#include <Helper.h>
#include <Logging.h>
#include <ecvFeature.h>
#include <ecvKDTreeFlann.h>
#include <ecvPointCloud.h>
#include "cloudViewer/utility/Random.h"
#include "pipelines/registration/Registration.h"

Include dependency graph for FastGlobalRegistration.cpp:

Go to the source code of this file.

Namespaces
	cloudViewer
	Generic file read and write utility for python interface.
	cloudViewer::pipelines
	cloudViewer::pipelines::registration

Functions
static std::vector< std::pair< int, int > >	cloudViewer::pipelines::registration::InitialMatching (const utility::Feature &src_features, const utility::Feature &dst_features)
static std::vector< std::pair< int, int > >	cloudViewer::pipelines::registration::AdvancedMatching (const ccPointCloud &src_point_cloud, const ccPointCloud &dst_point_cloud, const std::vector< std::pair< int, int >> &corres_cross, const FastGlobalRegistrationOption &option)
std::tuple< std::vector< Eigen::Vector3d >, double, double >	cloudViewer::pipelines::registration::NormalizePointCloud (std::vector< ccPointCloud > &point_cloud_vec, const FastGlobalRegistrationOption &option)
Eigen::Matrix4d	cloudViewer::pipelines::registration::OptimizePairwiseRegistration (const std::vector< ccPointCloud > &point_cloud_vec, const std::vector< std::pair< int, int >> &corres, double scale_start, const FastGlobalRegistrationOption &option)
Eigen::Matrix4d	cloudViewer::pipelines::registration::GetTransformationOriginalScale (const Eigen::Matrix4d &transformation, const std::vector< Eigen::Vector3d > &pcd_mean_vec, const double scale_global)
RegistrationResult	cloudViewer::pipelines::registration::FastGlobalRegistrationBasedOnCorrespondence (const ccPointCloud &source, const ccPointCloud &target, const CorrespondenceSet &corres, const FastGlobalRegistrationOption &option=FastGlobalRegistrationOption())
	Fast Global Registration based on a given set of correspondences. More...
RegistrationResult	cloudViewer::pipelines::registration::FastGlobalRegistrationBasedOnFeatureMatching (const ccPointCloud &source, const ccPointCloud &target, const utility::Feature &source_feature, const utility::Feature &target_feature, const FastGlobalRegistrationOption &option=FastGlobalRegistrationOption())
	Fast Global Registration based on a given set of FPFH features. More...