\begin{tikzpicture}[scale=0.4, line join=round, line cap=round, background rectangle/.style={fill=white}, show background rectangle]

\pgfmathsetmacro{\x}{10}
\pgfmathsetmacro{\y}{-4}

\coordinate (A1) at (0.5,0);
\coordinate (A2) at (4.5,0);
\coordinate (A3) at (-0.5,-2);
\coordinate (A4) at (3.5,-2);

\coordinate (B1) at ($(A1)+(0,\y)$);
\coordinate (B2) at ($(A2)+(0,\y)$);
\coordinate (B3) at ($(A3)+(0,\y)$);
\coordinate (B4) at ($(A4)+(0,\y)$);

\coordinate (C1) at ($(A1)+(\x,0)$);
\coordinate (C2) at ($(A2)+(\x,0)$);
\coordinate (C3) at ($(A3)+(\x,0)$);
\coordinate (C4) at ($(A4)+(\x,0)$);

\coordinate (D1) at ($(A1)+(\x,\y)$);
\coordinate (D2) at ($(A2)+(\x,\y)$);
\coordinate (D3) at ($(A3)+(\x,\y)$);
\coordinate (D4) at ($(A4)+(\x,\y)$);

% text
\coordinate (SA) at (-3.0,-1.0);
\coordinate (SB) at ($(SA)+(0,\y)$);
\node[right] at (SA) {\(\surfaceA\)};
\node[right] at (SB) {\(\surfaceB\)};

\coordinate (G1) at (-3,-8);
\coordinate (G2) at ($(G1)+(\x,0)$);
\node[right] at (G1) {Geometric Consistency \yes};
\node[right] at (G2) {Geometric Consistency \no};

% lower
\fill[rwthgreen50, opacity=0.7] (B1) -- (B2) -- (B3) -- cycle;
\fill[rwthgreen50, opacity=0.7] (B3) -- (B2) -- (B4) -- cycle;
\draw[rwthgreen, opacity=0.7, thick] (B2) -- (B4) -- (B3) -- (B1) -- (B2) -- (B3);

\fill[rwthgreen50, opacity=0.7] (D1) -- (D2) -- (D3) -- cycle;
\fill[rwthgreen50, opacity=0.7] (D3) -- (D2) -- (D4) -- cycle;
\draw[rwthgreen, opacity=0.7, thick] (D2) -- (D4) -- (D3) -- (D1) -- (D2) -- (D3);

% connections
\draw[black, thick, dotted] (A1)--(B1);
\draw[black, thick, dotted] (A2)--(B2);
\draw[black, thick, dotted] (A3)--(B3);
\draw[black, thick, dotted] (A4)--(B4);

\draw[black, thick, dotted] (C1)--(D1);
\draw[black, thick, dotted] (C2)--(D2);
\draw[rwthred, very thick, dotted] (C3)--(D4);
\draw[rwthred, very thick, dotted] (C4)--(D3);


% upper
\fill[rwthblue50, opacity=0.7] (A1) -- (A2) -- (A3) -- cycle;
\fill[rwthblue50, opacity=0.7] (A3) -- (A2) -- (A4) -- cycle;
\draw[rwthblue, opacity=0.7, thick] (A2) -- (A4) -- (A3) -- (A1) -- (A2) -- (A3);

\fill[rwthblue50, opacity=0.7] (C1) -- (C2) -- (C3) -- cycle;
\fill[rwthblue50, opacity=0.7] (C3) -- (C2) -- (C4) -- cycle;
\draw[rwthblue, opacity=0.7, thick] (C2) -- (C4) -- (C3) -- (C1) -- (C2) -- (C3);



\end{tikzpicture}