84 lines
3.0 KiB
C
84 lines
3.0 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 <Eigen/Core>
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#include <memory>
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#include <vector>
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#include "open3d/geometry/KDTreeSearchParam.h"
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namespace open3d {
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namespace geometry {
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class PointCloud;
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}
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namespace pipelines {
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namespace registration {
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typedef std::vector<Eigen::Vector2i> CorrespondenceSet;
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/// \class Feature
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///
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/// \brief Class to store featrues for registration.
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class Feature {
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public:
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/// Resize feature data buffer to `dim x n`.
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///
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/// \param dim Feature dimension per point.
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/// \param n Number of points.
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void Resize(int dim, int n) {
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data_.resize(dim, n);
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data_.setZero();
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}
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/// Returns feature dimensions per point.
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size_t Dimension() const { return data_.rows(); }
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/// Returns number of points.
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size_t Num() const { return data_.cols(); }
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public:
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/// Data buffer storing features.
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Eigen::MatrixXd data_;
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};
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/// Function to compute FPFH feature for a point cloud.
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///
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/// \param input The Input point cloud.
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/// \param search_param KDTree KNN search parameter.
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std::shared_ptr<Feature> ComputeFPFHFeature(
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const geometry::PointCloud &input,
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const geometry::KDTreeSearchParam &search_param =
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geometry::KDTreeSearchParamKNN());
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/// \brief Function to find correspondences via 1-nearest neighbor feature
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/// matching. Target is used to construct a nearest neighbor search
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/// object, in order to query source.
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/// \param source_features (D, N) feature
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/// \param target_features (D, M) feature
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/// \param mutual_filter Boolean flag, only return correspondences (i, j) s.t.
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/// source_features[i] and target_features[j] are mutually the nearest neighbor.
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/// \param mutual_consistency_ratio Float threshold to decide whether the number
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/// of correspondences is sufficient. Only used when mutual_filter is set to
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/// True.
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/// \return A CorrespondenceSet. When mutual_filter is disabled: the first
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/// column is arange(0, N) of source, and the second column is the corresponding
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/// index of target. When mutual_filter is enabled, return the filtering subset
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/// of the aforementioned correspondence set where source[i] and target[j] are
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/// mutually the nearest neighbor. If the subset size is smaller than
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/// mutual_consistency_ratio * N, return the unfiltered set.
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CorrespondenceSet CorrespondencesFromFeatures(
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const Feature &source_features,
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const Feature &target_features,
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bool mutual_filter = false,
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float mutual_consistency_ratio = 0.1);
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} // namespace registration
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} // namespace pipelines
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} // namespace open3d
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