Super4PCS Library  V1.1.2(719f5c0)
GlobalRegistration::Match4PCS Class Reference

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

◆ Base

◆ PairsVector

◆ Scalar

◆ VectorType

Constructor & Destructor Documentation

◆ Match4PCS()

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

◆ ~Match4PCS()

GlobalRegistration::Match4PCS::~Match4PCS ( )
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