Open3D (C++ API)
Public Member Functions | Data Fields
open3d::registration::CorrespondenceChecker Class Referenceabstract

Base class that checks if two (small) point clouds can be aligned. More...

#include <CorrespondenceChecker.h>

Inheritance diagram for open3d::registration::CorrespondenceChecker:
open3d::registration::CorrespondenceCheckerBasedOnDistance open3d::registration::CorrespondenceCheckerBasedOnEdgeLength open3d::registration::CorrespondenceCheckerBasedOnNormal

Public Member Functions

 CorrespondenceChecker (bool require_pointcloud_alignment)
 Default Constructor. More...
 
virtual ~CorrespondenceChecker ()
 
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. More...
 

Data Fields

bool require_pointcloud_alignment_
 

Detailed Description

Base class that checks if two (small) point clouds can be aligned.

This class is used in feature based matching algorithms (such as RANSAC and FastGlobalRegistration) to prune out outlier correspondences. The virtual function Check() must be implemented in subclasses.

Constructor & Destructor Documentation

◆ CorrespondenceChecker()

open3d::registration::CorrespondenceChecker::CorrespondenceChecker ( bool  require_pointcloud_alignment)
inline

Default Constructor.

Parameters
require_pointcloud_alignmentSpecifies whether point cloud alignment is required.

◆ ~CorrespondenceChecker()

virtual open3d::registration::CorrespondenceChecker::~CorrespondenceChecker ( )
inlinevirtual

Member Function Documentation

◆ Check()

virtual bool open3d::registration::CorrespondenceChecker::Check ( const geometry::PointCloud source,
const geometry::PointCloud target,
const CorrespondenceSet corres,
const Eigen::Matrix4d &  transformation 
) const
pure virtual

Function to check if two points can be aligned.

The two input point clouds must have exact the same number of points.

Parameters
sourceSource point cloud.
targetTarget point cloud.
corresCorrespondence set between source and target point cloud.
transformationThe estimated transformation (inplace).

Implemented in open3d::registration::CorrespondenceCheckerBasedOnNormal, open3d::registration::CorrespondenceCheckerBasedOnDistance, and open3d::registration::CorrespondenceCheckerBasedOnEdgeLength.

Field Documentation

◆ require_pointcloud_alignment_

bool open3d::registration::CorrespondenceChecker::require_pointcloud_alignment_

Some checkers do not require point clouds to be aligned, e.g., the edge length checker. Some checkers do, e.g., the distance checker.


The documentation for this class was generated from the following file: