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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include <thread>
#include "open3d/Open3D.h"
namespace open3d {
class AlignmentSession : public utility::IJsonConvertible {
public:
bool ConvertToJsonValue(Json::Value &value) const override;
bool ConvertFromJsonValue(const Json::Value &value) override;
public:
std::shared_ptr<geometry::PointCloud>
source_ptr_; // Original source pointcloud
std::shared_ptr<geometry::PointCloud>
target_ptr_; // Original target pointcloud
std::vector<size_t> source_indices_; // Manually annotated point indices
std::vector<size_t> target_indices_; // Manually annotated point indices
Eigen::Matrix4d_u transformation_; // Current alignment result
double voxel_size_ = -1.0;
double max_correspondence_distance_ = -1.0;
bool with_scaling_ = true;
};
} // namespace open3d
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