Open3D (C++ API)  0.16.0
CorrespondenceChecker.h
Go to the documentation of this file.
1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// The MIT License (MIT)
5//
6// Copyright (c) 2018-2021 www.open3d.org
7//
8// Permission is hereby granted, free of charge, to any person obtaining a copy
9// of this software and associated documentation files (the "Software"), to deal
10// in the Software without restriction, including without limitation the rights
11// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12// copies of the Software, and to permit persons to whom the Software is
13// furnished to do so, subject to the following conditions:
14//
15// The above copyright notice and this permission notice shall be included in
16// all copies or substantial portions of the Software.
17//
18// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24// IN THE SOFTWARE.
25// ----------------------------------------------------------------------------
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:
69 virtual bool Check(const geometry::PointCloud &source,
70 const geometry::PointCloud &target,
71 const CorrespondenceSet &corres,
72 const Eigen::Matrix4d &transformation) const = 0;
73
74public:
78};
79
90public:
95 CorrespondenceCheckerBasedOnEdgeLength(double similarity_threshold = 0.9)
96 : CorrespondenceChecker(false),
97 similarity_threshold_(similarity_threshold) {}
99
100public:
101 bool Check(const geometry::PointCloud &source,
102 const geometry::PointCloud &target,
103 const CorrespondenceSet &corres,
104 const Eigen::Matrix4d &transformation) const override;
105
106public:
112};
113
118public:
122 CorrespondenceCheckerBasedOnDistance(double distance_threshold)
123 : CorrespondenceChecker(true),
124 distance_threshold_(distance_threshold) {}
126
127public:
128 bool Check(const geometry::PointCloud &source,
129 const geometry::PointCloud &target,
130 const CorrespondenceSet &corres,
131 const Eigen::Matrix4d &transformation) const override;
132
133public:
136};
137
145public:
149 CorrespondenceCheckerBasedOnNormal(double normal_angle_threshold)
150 : CorrespondenceChecker(true),
151 normal_angle_threshold_(normal_angle_threshold) {}
153
154public:
155 bool Check(const geometry::PointCloud &source,
156 const geometry::PointCloud &target,
157 const CorrespondenceSet &corres,
158 const Eigen::Matrix4d &transformation) const override;
159
160public:
163};
164
165} // namespace registration
166} // namespace pipelines
167} // 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:117
CorrespondenceCheckerBasedOnDistance(double distance_threshold)
Default Constructor.
Definition: CorrespondenceChecker.h:122
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:125
double distance_threshold_
Distance threshold for the check.
Definition: CorrespondenceChecker.h:135
Check if two point clouds build the polygons with similar edge lengths.
Definition: CorrespondenceChecker.h:89
double similarity_threshold_
Definition: CorrespondenceChecker.h:111
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:95
~CorrespondenceCheckerBasedOnEdgeLength() override
Definition: CorrespondenceChecker.h:98
Class to check if two aligned point clouds have similar normals.
Definition: CorrespondenceChecker.h:144
double normal_angle_threshold_
Radian value for angle threshold.
Definition: CorrespondenceChecker.h:162
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:152
CorrespondenceCheckerBasedOnNormal(double normal_angle_threshold)
Parameterized Constructor.
Definition: CorrespondenceChecker.h:149
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:77
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition: TransformationEstimation.h:46
Definition: PinholeCameraIntrinsic.cpp:35