Feature.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
#include <memory>
#include <vector>
 
#include "open3d/geometry/KDTreeSearchParam.h"
 
namespace open3d {
 
namespace geometry {
class PointCloud;
}
 
namespace pipelines {
namespace registration {
 
typedef std::vector<Eigen::Vector2i> CorrespondenceSet;

class 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> ComputeFPFHFeature(
        const geometry::PointCloud &input,
        const geometry::KDTreeSearchParam &search_param =
                geometry::KDTreeSearchParamKNN());

CorrespondenceSet CorrespondencesFromFeatures(
        const Feature &source_features,
        const Feature &target_features,
        bool mutual_filter = false,
        float mutual_consistency_ratio = 0.1);
 
}  // namespace registration
}  // namespace pipelines
}  // namespace open3d