Open3D (C++ API)
src
Open3D
Registration
Feature.h
Go to the documentation of this file.
1
// ----------------------------------------------------------------------------
2
// - Open3D: www.open3d.org -
3
// ----------------------------------------------------------------------------
4
// The MIT License (MIT)
5
//
6
// Copyright (c) 2018 www.open3d.org
7
//
8
// Permission is hereby granted, free of charge, to any person obtaining a copy
9
// of this software and associated documentation files (the "Software"), to deal
10
// in the Software without restriction, including without limitation the rights
11
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12
// copies of the Software, and to permit persons to whom the Software is
13
// furnished to do so, subject to the following conditions:
14
//
15
// The above copyright notice and this permission notice shall be included in
16
// all copies or substantial portions of the Software.
17
//
18
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24
// IN THE SOFTWARE.
25
// ----------------------------------------------------------------------------
26
27
#pragma once
28
29
#include <Eigen/Core>
30
#include <memory>
31
#include <vector>
32
33
#include "
Open3D/Geometry/KDTreeSearchParam.h
"
34
35
namespace
open3d
{
36
37
namespace
geometry {
38
class
PointCloud;
39
}
40
41
namespace
registration {
42
43
class
Feature
{
44
public
:
45
void
Resize
(
int
dim,
int
n) {
46
data_.resize(dim, n);
47
data_.setZero();
48
}
49
size_t
Dimension
()
const
{
return
data_.rows(); }
50
size_t
Num
()
const
{
return
data_.cols(); }
51
52
public
:
53
Eigen::MatrixXd
data_
;
54
};
55
57
std::shared_ptr<Feature>
ComputeFPFHFeature
(
58
const
geometry::PointCloud
&input,
59
const
geometry::KDTreeSearchParam
&search_param =
60
geometry::KDTreeSearchParamKNN
());
61
62
}
// namespace registration
63
}
// namespace open3d
open3d::geometry::PointCloud
Definition:
PointCloud.h:49
open3d::registration::ComputeFPFHFeature
std::shared_ptr< Feature > ComputeFPFHFeature(const geometry::PointCloud &input, const geometry::KDTreeSearchParam &search_param)
Function to compute FPFH feature for a point cloud.
Definition:
Feature.cpp:117
open3d::registration::Feature::Resize
void Resize(int dim, int n)
Definition:
Feature.h:45
open3d::geometry::KDTreeSearchParam
Definition:
KDTreeSearchParam.h:32
open3d::registration::Feature::data_
Eigen::MatrixXd data_
Definition:
Feature.h:53
open3d::registration::Feature::Dimension
size_t Dimension() const
Definition:
Feature.h:49
open3d
Definition:
PinholeCameraIntrinsic.cpp:34
KDTreeSearchParam.h
open3d::geometry::KDTreeSearchParamKNN
Definition:
KDTreeSearchParam.h:53
open3d::registration::Feature
Definition:
Feature.h:43
open3d::registration::Feature::Num
size_t Num() const
Definition:
Feature.h:50
Generated by
1.8.13