ecvFeature.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "CV_db.h"
 
// LOCAL
#include <Optional.h>
 
#include "ecvKDTreeSearchParam.h"
 
// EIGEN
#include <Eigen.h>
 
class ccPointCloud;
namespace cloudViewer {
namespace utility {
 
typedef std::vector<Eigen::Vector2i> CorrespondenceSet;
 
class CV_DB_LIB_API Feature {
public:
    void Resize(int dim, int n) {
        data_.resize(dim, n);
        data_.setZero();
    }
    size_t Dimension() const { return data_.rows(); }
    size_t Num() const { return data_.cols(); }
 
    std::shared_ptr<Feature> SelectByIndex(const std::vector<size_t> &indices,
                                           bool invert = false) const;
 
public:
    Eigen::MatrixXd data_;
};
 
std::shared_ptr<Feature> CV_DB_LIB_API
ComputeFPFHFeature(const ccPointCloud &input,
                   const geometry::KDTreeSearchParam &search_param =
                           geometry::KDTreeSearchParamKNN(),
                   const utility::optional<std::vector<size_t>> &indices =
                           utility::nullopt);
 
CorrespondenceSet CV_DB_LIB_API
CorrespondencesFromFeatures(const Feature &source_features,
                            const Feature &target_features,
                            bool mutual_filter = false,
                            float mutual_consistency_ratio = 0.1);
 
}  // namespace utility
}  // namespace cloudViewer