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

#include <CorrespondenceChecker.h>

Inheritance diagram for open3d::registration::CorrespondenceChecker:

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_alignment Specifies 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

source	Source point cloud.
target	Target point cloud.
corres	Correspondence set between source and target point cloud.
transformation	The 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:

/home/yixing/repo/Open3D/src/Open3D/Registration/CorrespondenceChecker.h

Public Member Functions

Data Fields