64 lines
2.9 KiB
C
64 lines
2.9 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/Tensor.h"
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#include "open3d/utility/Optional.h"
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namespace open3d {
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namespace t {
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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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/// Function to compute FPFH feature for a point cloud.
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/// It uses KNN search (Not recommended to use on GPU) if only max_nn parameter
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/// is provided, Radius search (Not recommended to use on GPU) if only radius
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/// parameter is provided, and Hybrid search (Recommended) if both are provided.
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///
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/// \param input The input point cloud with data type float32 or float64.
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/// \param max_nn [optional] Neighbor search max neighbors parameter. [Default =
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/// 100].
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/// \param radius [optional] Neighbor search radius parameter. [Recommended ~5x
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/// voxel size].
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/// \return A Tensor of FPFH feature of the input point cloud with
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/// shape {N, 33}, data type and device same as input.
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core::Tensor ComputeFPFHFeature(
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const geometry::PointCloud &input,
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const utility::optional<int> max_nn = 100,
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const utility::optional<double> radius = utility::nullopt);
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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_feats (N, D) tensor
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/// \param target_feats (M, D) tensor
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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 (K, 2, Int64) tensor. 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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core::Tensor CorrespondencesFromFeatures(const core::Tensor &source_features,
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const core::Tensor &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 t
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} // namespace open3d
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