Open3D (C++ API)  0.15.1
CorrespondenceChecker.h
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26
27#pragma once
28
29#include <Eigen/Core>
30#include <memory>
31#include <string>
32#include <vector>
33
35
36namespace open3d {
37
38namespace geometry {
39class PointCloud;
40}
41
42namespace pipelines {
43namespace registration {
44
53public:
58 CorrespondenceChecker(bool require_pointcloud_alignment)
59 : require_pointcloud_alignment_(require_pointcloud_alignment) {}
61
62public:
71 virtual bool Check(const geometry::PointCloud &source,
72 const geometry::PointCloud &target,
73 const CorrespondenceSet &corres,
74 const Eigen::Matrix4d &transformation) const = 0;
75
76public:
80};
81
92public:
97 CorrespondenceCheckerBasedOnEdgeLength(double similarity_threshold = 0.9)
98 : CorrespondenceChecker(false),
99 similarity_threshold_(similarity_threshold) {}
101
102public:
103 bool Check(const geometry::PointCloud &source,
104 const geometry::PointCloud &target,
105 const CorrespondenceSet &corres,
106 const Eigen::Matrix4d &transformation) const override;
107
108public:
114};
115
120public:
124 CorrespondenceCheckerBasedOnDistance(double distance_threshold)
125 : CorrespondenceChecker(true),
126 distance_threshold_(distance_threshold) {}
128
129public:
130 bool Check(const geometry::PointCloud &source,
131 const geometry::PointCloud &target,
132 const CorrespondenceSet &corres,
133 const Eigen::Matrix4d &transformation) const override;
134
135public:
138};
139
147public:
151 CorrespondenceCheckerBasedOnNormal(double normal_angle_threshold)
152 : CorrespondenceChecker(true),
153 normal_angle_threshold_(normal_angle_threshold) {}
155
156public:
157 bool Check(const geometry::PointCloud &source,
158 const geometry::PointCloud &target,
159 const CorrespondenceSet &corres,
160 const Eigen::Matrix4d &transformation) const override;
161
162public:
165};
166
167} // namespace registration
168} // namespace pipelines
169} // namespace open3d
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:55
Check if two aligned point clouds are close.
Definition: CorrespondenceChecker.h:119
CorrespondenceCheckerBasedOnDistance(double distance_threshold)
Default Constructor.
Definition: CorrespondenceChecker.h:124
bool Check(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres, const Eigen::Matrix4d &transformation) const override
Function to check if two points can be aligned.
Definition: CorrespondenceChecker.cpp:61
~CorrespondenceCheckerBasedOnDistance() override
Definition: CorrespondenceChecker.h:127
double distance_threshold_
Distance threashold for the check.
Definition: CorrespondenceChecker.h:137
Check if two point clouds build the polygons with similar edge lengths.
Definition: CorrespondenceChecker.h:91
double similarity_threshold_
Definition: CorrespondenceChecker.h:113
bool Check(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres, const Eigen::Matrix4d &transformation) const override
Function to check if two points can be aligned.
Definition: CorrespondenceChecker.cpp:38
CorrespondenceCheckerBasedOnEdgeLength(double similarity_threshold=0.9)
Default Constructor.
Definition: CorrespondenceChecker.h:97
~CorrespondenceCheckerBasedOnEdgeLength() override
Definition: CorrespondenceChecker.h:100
Class to check if two aligned point clouds have similar normals.
Definition: CorrespondenceChecker.h:146
double normal_angle_threshold_
Radian value for angle threshold.
Definition: CorrespondenceChecker.h:164
bool Check(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres, const Eigen::Matrix4d &transformation) const override
Function to check if two points can be aligned.
Definition: CorrespondenceChecker.cpp:78
~CorrespondenceCheckerBasedOnNormal() override
Definition: CorrespondenceChecker.h:154
CorrespondenceCheckerBasedOnNormal(double normal_angle_threshold)
Parameterized Constructor.
Definition: CorrespondenceChecker.h:151
Base class that checks if two (small) point clouds can be aligned.
Definition: CorrespondenceChecker.h:52
CorrespondenceChecker(bool require_pointcloud_alignment)
Default Constructor.
Definition: CorrespondenceChecker.h:58
virtual ~CorrespondenceChecker()
Definition: CorrespondenceChecker.h:60
virtual bool Check(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres, const Eigen::Matrix4d &transformation) const =0
Function to check if two points can be aligned.
bool require_pointcloud_alignment_
Definition: CorrespondenceChecker.h:79
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition: TransformationEstimation.h:46
Definition: PinholeCameraIntrinsic.cpp:35