CorrespondenceChecker.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
#include <memory>
#include <string>
#include <vector>
 
#include "open3d/pipelines/registration/TransformationEstimation.h"
 
namespace open3d {
 
namespace geometry {
class PointCloud;
}
 
namespace pipelines {
namespace registration {
 
class CorrespondenceChecker {
public:
    CorrespondenceChecker(bool require_pointcloud_alignment)
        : require_pointcloud_alignment_(require_pointcloud_alignment) {}
    virtual ~CorrespondenceChecker() {}
 
public:
    virtual bool Check(const geometry::PointCloud &source,
                       const geometry::PointCloud &target,
                       const CorrespondenceSet &corres,
                       const Eigen::Matrix4d &transformation) const = 0;
 
public:
    bool require_pointcloud_alignment_;
};
 
class CorrespondenceCheckerBasedOnEdgeLength : public CorrespondenceChecker {
public:
    CorrespondenceCheckerBasedOnEdgeLength(double similarity_threshold = 0.9)
        : CorrespondenceChecker(false),
          similarity_threshold_(similarity_threshold) {}
    ~CorrespondenceCheckerBasedOnEdgeLength() override {}
 
public:
    bool Check(const geometry::PointCloud &source,
               const geometry::PointCloud &target,
               const CorrespondenceSet &corres,
               const Eigen::Matrix4d &transformation) const override;
 
public:
    double similarity_threshold_;
};
 
class CorrespondenceCheckerBasedOnDistance : public CorrespondenceChecker {
public:
    CorrespondenceCheckerBasedOnDistance(double distance_threshold)
        : CorrespondenceChecker(true),
          distance_threshold_(distance_threshold) {}
    ~CorrespondenceCheckerBasedOnDistance() override {}
 
public:
    bool Check(const geometry::PointCloud &source,
               const geometry::PointCloud &target,
               const CorrespondenceSet &corres,
               const Eigen::Matrix4d &transformation) const override;
 
public:
    double distance_threshold_;
};
 
class CorrespondenceCheckerBasedOnNormal : public CorrespondenceChecker {
public:
    CorrespondenceCheckerBasedOnNormal(double normal_angle_threshold)
        : CorrespondenceChecker(true),
          normal_angle_threshold_(normal_angle_threshold) {}
    ~CorrespondenceCheckerBasedOnNormal() override {}
 
public:
    bool Check(const geometry::PointCloud &source,
               const geometry::PointCloud &target,
               const CorrespondenceSet &corres,
               const Eigen::Matrix4d &transformation) const override;
 
public:
    double normal_angle_threshold_;
};
 
}  // namespace registration
}  // namespace pipelines
}  // namespace open3d