43 namespace registration {
74 const Eigen::Matrix4d &transformation)
const = 0;
106 const Eigen::Matrix4d &transformation)
const override;
133 const Eigen::Matrix4d &transformation)
const override;
160 const Eigen::Matrix4d &transformation)
const override;
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:55
Check if two aligned point clouds are close.
Definition: CorrespondenceChecker.h:119
CorrespondenceCheckerBasedOnDistance(double distance_threshold)
Default Constructor.
Definition: CorrespondenceChecker.h:124
bool Check(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres, const Eigen::Matrix4d &transformation) const override
Function to check if two points can be aligned.
Definition: CorrespondenceChecker.cpp:61
~CorrespondenceCheckerBasedOnDistance() override
Definition: CorrespondenceChecker.h:127
double distance_threshold_
Distance threashold for the check.
Definition: CorrespondenceChecker.h:137
Check if two point clouds build the polygons with similar edge lengths.
Definition: CorrespondenceChecker.h:91
double similarity_threshold_
Definition: CorrespondenceChecker.h:113
bool Check(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres, const Eigen::Matrix4d &transformation) const override
Function to check if two points can be aligned.
Definition: CorrespondenceChecker.cpp:38
CorrespondenceCheckerBasedOnEdgeLength(double similarity_threshold=0.9)
Default Constructor.
Definition: CorrespondenceChecker.h:97
~CorrespondenceCheckerBasedOnEdgeLength() override
Definition: CorrespondenceChecker.h:100
Class to check if two aligned point clouds have similar normals.
Definition: CorrespondenceChecker.h:146
double normal_angle_threshold_
Radian value for angle threshold.
Definition: CorrespondenceChecker.h:164
bool Check(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres, const Eigen::Matrix4d &transformation) const override
Function to check if two points can be aligned.
Definition: CorrespondenceChecker.cpp:78
~CorrespondenceCheckerBasedOnNormal() override
Definition: CorrespondenceChecker.h:154
CorrespondenceCheckerBasedOnNormal(double normal_angle_threshold)
Parameterized Constructor.
Definition: CorrespondenceChecker.h:151
Base class that checks if two (small) point clouds can be aligned.
Definition: CorrespondenceChecker.h:52
CorrespondenceChecker(bool require_pointcloud_alignment)
Default Constructor.
Definition: CorrespondenceChecker.h:58
virtual ~CorrespondenceChecker()
Definition: CorrespondenceChecker.h:60
virtual bool Check(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres, const Eigen::Matrix4d &transformation) const =0
Function to check if two points can be aligned.
bool require_pointcloud_alignment_
Definition: CorrespondenceChecker.h:79
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition: TransformationEstimation.h:46
Definition: PinholeCameraIntrinsic.cpp:35