Open3D (C++ API)  0.18.0
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Feature.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <Eigen/Core>
11#include <memory>
12#include <vector>
13
15
16namespace open3d {
17
18namespace geometry {
19class PointCloud;
20}
21
22namespace pipelines {
23namespace registration {
24
25typedef std::vector<Eigen::Vector2i> CorrespondenceSet;
26
30class Feature {
31public:
36 void Resize(int dim, int n) {
37 data_.resize(dim, n);
38 data_.setZero();
39 }
41 size_t Dimension() const { return data_.rows(); }
43 size_t Num() const { return data_.cols(); }
44
45public:
47 Eigen::MatrixXd data_;
48};
49
54std::shared_ptr<Feature> ComputeFPFHFeature(
55 const geometry::PointCloud &input,
56 const geometry::KDTreeSearchParam &search_param =
58
76 const Feature &source_features,
77 const Feature &target_features,
78 bool mutual_filter = false,
79 float mutual_consistency_ratio = 0.1);
80
81} // namespace registration
82} // namespace pipelines
83} // namespace open3d
Base class for KDTree search parameters.
Definition KDTreeSearchParam.h:16
KDTree search parameters for pure KNN search.
Definition KDTreeSearchParam.h:44
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition PointCloud.h:36
Class to store featrues for registration.
Definition Feature.h:30
size_t Num() const
Returns number of points.
Definition Feature.h:43
Eigen::MatrixXd data_
Data buffer storing features.
Definition Feature.h:47
size_t Dimension() const
Returns feature dimensions per point.
Definition Feature.h:41
void Resize(int dim, int n)
Definition Feature.h:36
CorrespondenceSet CorrespondencesFromFeatures(const Feature &source_features, const Feature &target_features, bool mutual_filter, float mutual_consistent_ratio)
Function to find correspondences via 1-nearest neighbor feature matching. Target is used to construct...
Definition Feature.cpp:142
std::shared_ptr< Feature > ComputeFPFHFeature(const geometry::PointCloud &input, const geometry::KDTreeSearchParam &search_param)
Definition Feature.cpp:94
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition Feature.h:25
Definition PinholeCameraIntrinsic.cpp:16