Open3D (C++ API)  0.12.0
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 
36 namespace open3d {
37 
38 namespace geometry {
39 class PointCloud;
40 }
41 
42 namespace pipelines {
43 namespace registration {
44 
53 public:
58  CorrespondenceChecker(bool require_pointcloud_alignment)
59  : require_pointcloud_alignment_(require_pointcloud_alignment) {}
61 
62 public:
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 
76 public:
80 };
81 
92 public:
97  CorrespondenceCheckerBasedOnEdgeLength(double similarity_threshold = 0.9)
98  : CorrespondenceChecker(false),
99  similarity_threshold_(similarity_threshold) {}
101 
102 public:
103  bool Check(const geometry::PointCloud &source,
104  const geometry::PointCloud &target,
105  const CorrespondenceSet &corres,
106  const Eigen::Matrix4d &transformation) const override;
107 
108 public:
114 };
115 
120 public:
124  CorrespondenceCheckerBasedOnDistance(double distance_threshold)
125  : CorrespondenceChecker(true),
126  distance_threshold_(distance_threshold) {}
128 
129 public:
130  bool Check(const geometry::PointCloud &source,
131  const geometry::PointCloud &target,
132  const CorrespondenceSet &corres,
133  const Eigen::Matrix4d &transformation) const override;
134 
135 public:
138 };
139 
147 public:
151  CorrespondenceCheckerBasedOnNormal(double normal_angle_threshold)
152  : CorrespondenceChecker(true),
153  normal_angle_threshold_(normal_angle_threshold) {}
155 
156 public:
157  bool Check(const geometry::PointCloud &source,
158  const geometry::PointCloud &target,
159  const CorrespondenceSet &corres,
160  const Eigen::Matrix4d &transformation) const override;
161 
162 public:
165 };
166 
167 } // namespace registration
168 } // namespace pipelines
169 } // namespace open3d
~CorrespondenceCheckerBasedOnEdgeLength() override
Definition: CorrespondenceChecker.h:100
double similarity_threshold_
Definition: CorrespondenceChecker.h:113
Check if two point clouds build the polygons with similar edge lengths.
Definition: CorrespondenceChecker.h:91
~CorrespondenceCheckerBasedOnNormal() override
Definition: CorrespondenceChecker.h:154
A point cloud consists of point coordinates, and optionally point colors and point normals...
Definition: PointCloud.h:54
virtual ~CorrespondenceChecker()
Definition: CorrespondenceChecker.h:60
double normal_angle_threshold_
Radian value for angle threshold.
Definition: CorrespondenceChecker.h:164
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition: TransformationEstimation.h:46
CorrespondenceCheckerBasedOnEdgeLength(double similarity_threshold=0.9)
Default Constructor.
Definition: CorrespondenceChecker.h:97
~CorrespondenceCheckerBasedOnDistance() override
Definition: CorrespondenceChecker.h:127
Base class that checks if two (small) point clouds can be aligned.
Definition: CorrespondenceChecker.h:52
CorrespondenceCheckerBasedOnNormal(double normal_angle_threshold)
Parameterized Constructor.
Definition: CorrespondenceChecker.h:151
Class to check if two aligned point clouds have similar normals.
Definition: CorrespondenceChecker.h:146
Definition: PinholeCameraIntrinsic.cpp:35
double distance_threshold_
Distance threashold for the check.
Definition: CorrespondenceChecker.h:137
CorrespondenceChecker(bool require_pointcloud_alignment)
Default Constructor.
Definition: CorrespondenceChecker.h:58
Check if two aligned point clouds are close.
Definition: CorrespondenceChecker.h:119
CorrespondenceCheckerBasedOnDistance(double distance_threshold)
Default Constructor.
Definition: CorrespondenceChecker.h:124
bool require_pointcloud_alignment_
Definition: CorrespondenceChecker.h:79