Class for the computation of the 4PCS algorithm. More...

Inheritance diagram for GlobalRegistration::Match4PCS:

Collaboration diagram for GlobalRegistration::Match4PCS:

Public Types
using	Base = Match4PCSBase

using	Scalar = typename Base::Scalar

using	PairsVector = typename Base::PairsVector

using	VectorType = typename Base::VectorType

Public Types inherited from GlobalRegistration::Match4PCSBase
using	PairsVector = std::vector< std::pair< int, int > >

using	Scalar = typename Point3D::Scalar

using	VectorType = typename Point3D::VectorType

using	MatrixType = Eigen::Matrix< Scalar, 4, 4 >

using	LogLevel = Utils::LogLevel

using	DefaultSampler = Sampling::UniformDistSampler

Public Member Functions
	Match4PCS (const Match4PCSOptions &options, const Utils::Logger logger)

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	~Match4PCS ()

Public Member Functions inherited from GlobalRegistration::Match4PCSBase
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW	~Match4PCSBase ()

const std::vector< Point3D > &	getFirstSampled () const
	Read access to the sampled clouds used for the registration. More...

const std::vector< Point3D > &	getSecondSampled () const
	Read access to the sampled clouds used for the registration. More...

template<typename Sampler = DefaultSampler, typename Visitor = DummyTransformVisitor>
Scalar	ComputeTransformation (const std::vector< Point3D > &P, std::vector< Point3D > *Q, Eigen::Ref< MatrixType > transformation, const Sampler &sampler=Sampler(), const Visitor &v=Visitor())
	Computes an approximation of the best LCP (directional) from Q to P and the rigid transformation that realizes it. The input sets may or may not contain normal information for any point. More...

Additional Inherited Members
Static Public Attributes inherited from GlobalRegistration::Match4PCSBase
static constexpr int	kNumberOfDiameterTrials = 1000

static constexpr Scalar	kLargeNumber = 1e9

static constexpr Scalar	distance_factor = 2.0

Detailed Description

Class for the computation of the 4PCS algorithm.

Member Typedef Documentation

GlobalRegistration::Match4PCS::Match4PCS	(	const Match4PCSOptions &	options,
		const Utils::Logger	logger
	)

explicit

GlobalRegistration::Match4PCS::~Match4PCS ( )

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