Open3D (C++ API)
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 registration {
48 public:
49  CorrespondenceChecker(bool require_pointcloud_alignment)
50  : require_pointcloud_alignment_(require_pointcloud_alignment) {}
52 
53 public:
56  virtual bool Check(const geometry::PointCloud &source,
57  const geometry::PointCloud &target,
58  const CorrespondenceSet &corres,
59  const Eigen::Matrix4d &transformation) const = 0;
60 
61 public:
65 };
66 
71 public:
72  CorrespondenceCheckerBasedOnEdgeLength(double similarity_threshold = 0.9)
73  : CorrespondenceChecker(false),
74  similarity_threshold_(similarity_threshold) {}
76 
77 public:
78  bool Check(const geometry::PointCloud &source,
79  const geometry::PointCloud &target,
80  const CorrespondenceSet &corres,
81  const Eigen::Matrix4d &transformation) const override;
82 
83 public:
85 };
86 
89 public:
90  CorrespondenceCheckerBasedOnDistance(double distance_threshold)
91  : CorrespondenceChecker(true),
92  distance_threshold_(distance_threshold) {}
94 
95 public:
96  bool Check(const geometry::PointCloud &source,
97  const geometry::PointCloud &target,
98  const CorrespondenceSet &corres,
99  const Eigen::Matrix4d &transformation) const override;
100 
101 public:
103 };
104 
107 public:
108  CorrespondenceCheckerBasedOnNormal(double normal_angle_threshold)
109  : CorrespondenceChecker(true),
110  normal_angle_threshold_(normal_angle_threshold) {}
112 
113 public:
114  bool Check(const geometry::PointCloud &source,
115  const geometry::PointCloud &target,
116  const CorrespondenceSet &corres,
117  const Eigen::Matrix4d &transformation) const override;
118 
119 public:
121 };
122 
123 } // namespace registration
124 } // namespace open3d
bool require_pointcloud_alignment_
Definition: CorrespondenceChecker.h:64
double normal_angle_threshold_
Definition: CorrespondenceChecker.h:120
double similarity_threshold_
Definition: CorrespondenceChecker.h:84
CorrespondenceCheckerBasedOnNormal(double normal_angle_threshold)
Definition: CorrespondenceChecker.h:108
Check if two aligned point clouds have similar normals.
Definition: CorrespondenceChecker.h:106
virtual ~CorrespondenceChecker()
Definition: CorrespondenceChecker.h:51
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition: TransformationEstimation.h:42
CorrespondenceChecker(bool require_pointcloud_alignment)
Definition: CorrespondenceChecker.h:49
Definition: PointCloud.h:49
Definition: CorrespondenceChecker.h:47
Check if two aligned point clouds are close.
Definition: CorrespondenceChecker.h:88
~CorrespondenceCheckerBasedOnDistance() override
Definition: CorrespondenceChecker.h:93
CorrespondenceCheckerBasedOnEdgeLength(double similarity_threshold=0.9)
Definition: CorrespondenceChecker.h:72
Definition: PinholeCameraIntrinsic.cpp:34
~CorrespondenceCheckerBasedOnNormal() override
Definition: CorrespondenceChecker.h:111
~CorrespondenceCheckerBasedOnEdgeLength() override
Definition: CorrespondenceChecker.h:75
double distance_threshold_
Definition: CorrespondenceChecker.h:102
CorrespondenceCheckerBasedOnDistance(double distance_threshold)
Definition: CorrespondenceChecker.h:90