open3d::pipelines::registration::CorrespondenceCheckerBasedOnNormal Class Reference

Class to check if two aligned point clouds have similar normals. More...

#include <CorrespondenceChecker.h>

Inheritance diagram for open3d::pipelines::registration::CorrespondenceCheckerBasedOnNormal:

Public Member Functions
	CorrespondenceCheckerBasedOnNormal (double normal_angle_threshold)
	Parameterized Constructor. More...
	~CorrespondenceCheckerBasedOnNormal () override
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. More...
Public Member Functions inherited from open3d::pipelines::registration::CorrespondenceChecker
	CorrespondenceChecker (bool require_pointcloud_alignment)
	Default Constructor. More...
virtual	~CorrespondenceChecker ()

Data Fields
double	normal_angle_threshold_
	Radian value for angle threshold. More...
Data Fields inherited from open3d::pipelines::registration::CorrespondenceChecker
bool	require_pointcloud_alignment_

Detailed Description

Class to check if two aligned point clouds have similar normals.

It considers vertex normal affinity of any correspondences. It computes dot product of two normal vectors. It takes radian value for the threshold.

Constructor & Destructor Documentation

CorrespondenceCheckerBasedOnNormal()

open3d::pipelines::registration::CorrespondenceCheckerBasedOnNormal::CorrespondenceCheckerBasedOnNormal ( double  normal_angle_threshold )

inline

Parameterized Constructor.

Parameters

normal_angle_threshold

Radian value for angle threshold.

~CorrespondenceCheckerBasedOnNormal()

open3d::pipelines::registration::CorrespondenceCheckerBasedOnNormal::~CorrespondenceCheckerBasedOnNormal ( )

inlineoverride

Member Function Documentation

Check()

bool open3d::pipelines::registration::CorrespondenceCheckerBasedOnNormal::Check ( const geometry::PointCloud &  source, const geometry::PointCloud &  target, const CorrespondenceSet &  corres, const Eigen::Matrix4d &  transformation  ) const

overridevirtual

Function to check if two points can be aligned.

Parameters

source	Source point cloud.
target	Target point cloud.
corres	Correspondence set between source and target point cloud.
transformation	The estimated transformation (inplace).

Implements open3d::pipelines::registration::CorrespondenceChecker.

Field Documentation

normal_angle_threshold_

double open3d::pipelines::registration::CorrespondenceCheckerBasedOnNormal::normal_angle_threshold_

Radian value for angle threshold.

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The documentation for this class was generated from the following files:

• /root/Open3D/cpp/open3d/pipelines/registration/CorrespondenceChecker.h
• /root/Open3D/cpp/open3d/pipelines/registration/CorrespondenceChecker.cpp