Registration.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "pipelines/registration/Registration.h"
 
#include <Logging.h>
#include <benchmark/benchmark.h>
#include <ecvKDTreeFlann.h>
#include <ecvPointCloud.h>
 
#include <Eigen/Eigen>
 
#include "cloudViewer/data/Dataset.h"
#include "cloudViewer/io/PointCloudIO.h"
#include "cloudViewer/pipelines/registration/TransformationEstimation.h"
 
namespace cloudViewer {
namespace pipelines {
namespace registration {
 
// Testing parameters:
// ICP ConvergenceCriteria.
static const double relative_fitness = 1e-6;
static const double relative_rmse = 1e-6;
static const int max_iterations = 10;
 
static const double voxel_downsampling_factor = 0.02;
 
// NNS parameter.
static const double max_correspondence_distance = 0.05;
 
static std::tuple<ccPointCloud, ccPointCloud> LoadPointCloud(
        const std::string& source_filename,
        const std::string& target_filename,
        const double voxel_downsample_factor) {
    ccPointCloud source;
    ccPointCloud target;
 
    io::ReadPointCloud(source_filename, source, {"auto", false, false, true});
    io::ReadPointCloud(target_filename, target, {"auto", false, false, true});
 
    // Eliminates the case of impractical values (including negative).
    if (voxel_downsample_factor > 0.001) {
        source = *source.VoxelDownSample(voxel_downsample_factor);
        target = *target.VoxelDownSample(voxel_downsample_factor);
    } else {
        utility::LogWarning(
                " VoxelDownSample: Impractical voxel size [< 0.001], skiping "
                "downsampling.");
    }
 
    return std::make_tuple(source, target);
}
 
static void BenchmarkICPLegacy(benchmark::State& state,
                               const TransformationEstimationType& type) {
    data::DemoICPPointClouds demo_icp_pointclouds;
    ccPointCloud source, target;
    std::tie(source, target) = LoadPointCloud(demo_icp_pointclouds.GetPaths(0),
                                              demo_icp_pointclouds.GetPaths(1),
                                              voxel_downsampling_factor);
 
    std::shared_ptr<TransformationEstimation> estimation;
    if (type == TransformationEstimationType::PointToPlane) {
        estimation = std::make_shared<TransformationEstimationPointToPlane>();
    } else if (type == TransformationEstimationType::PointToPoint) {
        estimation = std::make_shared<TransformationEstimationPointToPoint>();
    }
 
    Eigen::Matrix4d init_trans;
    init_trans << 0.862, 0.011, -0.507, 0.5, -0.139, 0.967, -0.215, 0.7, 0.487,
            0.255, 0.835, -1.4, 0.0, 0.0, 0.0, 1.0;
 
    RegistrationResult reg_result(init_trans);
    // Warm up.
    reg_result = RegistrationICP(
            source, target, max_correspondence_distance, init_trans,
            *estimation,
            ICPConvergenceCriteria(relative_fitness, relative_rmse,
                                   max_iterations));
    for (auto _ : state) {
        reg_result = RegistrationICP(
                source, target, max_correspondence_distance, init_trans,
                *estimation,
                ICPConvergenceCriteria(relative_fitness, relative_rmse,
                                       max_iterations));
    }
 
    utility::LogDebug(" Max iterations: {}, Max_correspondence_distance : {}",
                      max_iterations, max_correspondence_distance);
    utility::LogDebug(" Fitness: {}  Inlier RMSE: {}", reg_result.fitness_,
                      reg_result.inlier_rmse_);
}
 
BENCHMARK_CAPTURE(BenchmarkICPLegacy,
                  PointToPlane / CPU,
                  TransformationEstimationType::PointToPlane)
        ->Unit(benchmark::kMillisecond);
 
BENCHMARK_CAPTURE(BenchmarkICPLegacy,
                  PointToPoint / CPU,
                  TransformationEstimationType::PointToPoint)
        ->Unit(benchmark::kMillisecond);
 
}  // namespace registration
}  // namespace pipelines
}  // namespace cloudViewer