49 lines
2.0 KiB
C
49 lines
2.0 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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#include "open3d/core/EigenConverter.h"
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#include "open3d/geometry/LineSet.h"
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#include "open3d/io/PointCloudIO.h"
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#include "open3d/pipelines/registration/PoseGraph.h"
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#include "open3d/t/pipelines/registration/Registration.h"
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#include "open3d/t/pipelines/slac/ControlGrid.h"
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#include "open3d/utility/FileSystem.h"
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namespace open3d {
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namespace t {
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namespace pipelines {
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namespace slac {
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/// \brief Visualize pairs with correspondences.
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///
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/// \param tpcd_i, source point cloud.
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/// \param tpcd_j, target point cloud.
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/// \param correspondences Putative correspondence between tcpd_i and tpcd_j.
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/// \param T_ij Transformation from tpcd_i to tpcd_j. Use T_j.Inverse() @ T_i
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/// (node transformation in a pose graph) to check global correspondences , and
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/// T_ij (edge transformation) to check pairwise correspondences.
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void VisualizePointCloudCorrespondences(const t::geometry::PointCloud& tpcd_i,
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const t::geometry::PointCloud& tpcd_j,
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const core::Tensor correspondences,
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const core::Tensor& T_ij);
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void VisualizePointCloudEmbedding(t::geometry::PointCloud& tpcd_param,
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ControlGrid& ctr_grid,
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bool show_lines = true);
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void VisualizePointCloudDeformation(const geometry::PointCloud& tpcd_param,
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ControlGrid& ctr_grid);
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void VisualizeGridDeformation(ControlGrid& cgrid);
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} // namespace slac
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} // namespace pipelines
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} // namespace t
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} // namespace open3d
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