1 // ---------------------------------------------------------------------------- 2 // - Open3D: www.open3d.org - 3 // ---------------------------------------------------------------------------- 4 // The MIT License (MIT) 5 // 6 // Copyright (c) 2018 www.open3d.org 7 // 8 // Permission is hereby granted, free of charge, to any person obtaining a copy 9 // of this software and associated documentation files (the "Software"), to deal 10 // in the Software without restriction, including without limitation the rights 11 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 12 // copies of the Software, and to permit persons to whom the Software is 13 // furnished to do so, subject to the following conditions: 14 // 15 // The above copyright notice and this permission notice shall be included in 16 // all copies or substantial portions of the Software. 17 // 18 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 19 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 20 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 21 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 22 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING 23 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS 24 // IN THE SOFTWARE. 25 // ---------------------------------------------------------------------------- 26 27 #include <thread> 28 #include <Core/Core.h> 29 #include <IO/IO.h> 30 #include <Visualization/Visualization.h> 31 32 namespace three { 33 34 class AlignmentSession : public IJsonConvertible 35 { 36 public: 37 bool ConvertToJsonValue(Json::Value &value) const override; 38 bool ConvertFromJsonValue(const Json::Value &value) override; 39 40 public: 41 std::shared_ptr<PointCloud> source_ptr_; // Original source pointcloud 42 std::shared_ptr<PointCloud> target_ptr_; // Original target pointcloud 43 std::vector<size_t> source_indices_; // Manually annotated point indices 44 std::vector<size_t> target_indices_; // Manually annotated point indices 45 Eigen::Matrix4d transformation_; // Current alignment result 46 double voxel_size_ = -1.0; 47 double max_correspondence_distance_ = -1.0; 48 bool with_scaling_ = true; 49 }; 50 51 } // namespace three 52