Registration.cpp File Reference

#include "t/pipelines/registration/Registration.h"
#include <benchmark/benchmark.h>
#include "cloudViewer/core/CUDAUtils.h"
#include "cloudViewer/core/EigenConverter.h"
#include "cloudViewer/core/nns/NearestNeighborSearch.h"
#include "cloudViewer/data/Dataset.h"
#include "cloudViewer/t/io/PointCloudIO.h"
#include "cloudViewer/t/pipelines/registration/TransformationEstimation.h"

Include dependency graph for Registration.cpp:

Go to the source code of this file.

Namespaces
	cloudViewer
	Generic file read and write utility for python interface.
	cloudViewer::t
	cloudViewer::t::pipelines
	cloudViewer::t::pipelines::registration

Macros
#define	ENUM_ICP_METHOD_DEVICE(BENCHMARK_FUNCTION, METHOD_NAME, TRANSFORMATION_TYPE, DEVICE)

Functions
static std::tuple< geometry::PointCloud, geometry::PointCloud >	cloudViewer::t::pipelines::registration::LoadTensorPointCloudFromFile (const std::string &source_pointcloud_filename, const std::string &target_pointcloud_filename, const double voxel_downsample_factor, const core::Dtype &dtype, const core::Device &device)
static void	cloudViewer::t::pipelines::registration::BenchmarkICP (benchmark::State &state, const core::Device &device, const core::Dtype &dtype, const TransformationEstimationType &type)
core::Tensor	cloudViewer::t::pipelines::registration::ComputeDirectionVectors (const core::Tensor &positions)
static std::tuple< geometry::PointCloud, geometry::PointCloud >	cloudViewer::t::pipelines::registration::LoadTensorDopplerPointCloudFromFile (const std::string &source_pointcloud_filename, const std::string &target_pointcloud_filename, const double voxel_downsample_factor, const core::Dtype &dtype, const core::Device &device)
static void	cloudViewer::t::pipelines::registration::BenchmarkDopplerICP (benchmark::State &state, const core::Device &device, const core::Dtype &dtype, const TransformationEstimationType &type)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (BenchmarkICP, "CPU:0" PointToPoint_Float32, core::Device("CPU:0"), core::Float32, TransformationEstimationType::PointToPoint) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (BenchmarkICP, "CPU:0" PointToPoint_Float64, core::Device("CPU:0"), core::Float64, TransformationEstimationType::PointToPoint) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (BenchmarkICP, "CPU:0" PointToPlane_Float32, core::Device("CPU:0"), core::Float32, TransformationEstimationType::PointToPlane) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (BenchmarkICP, "CPU:0" PointToPlane_Float64, core::Device("CPU:0"), core::Float64, TransformationEstimationType::PointToPlane) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (BenchmarkICP, "CPU:0" ColoredICP_Float32, core::Device("CPU:0"), core::Float32, TransformationEstimationType::ColoredICP) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (BenchmarkICP, "CPU:0" ColoredICP_Float64, core::Device("CPU:0"), core::Float64, TransformationEstimationType::ColoredICP) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (BenchmarkDopplerICP, "CPU:0" DopplerICP_Float32, core::Device("CPU:0"), core::Float32, TransformationEstimationType::DopplerICP) -> Unit(benchmark::kMillisecond)
	cloudViewer::t::pipelines::registration::BENCHMARK_CAPTURE (BenchmarkDopplerICP, "CPU:0" DopplerICP_Float64, core::Device("CPU:0"), core::Float64, TransformationEstimationType::DopplerICP) -> Unit(benchmark::kMillisecond)

Variables
static const double	cloudViewer::t::pipelines::registration::relative_fitness = 1e-6
static const double	cloudViewer::t::pipelines::registration::relative_rmse = 1e-6
static const int	cloudViewer::t::pipelines::registration::max_iterations = 10
static const double	cloudViewer::t::pipelines::registration::voxel_downsampling_factor = 0.02
static const double	cloudViewer::t::pipelines::registration::max_correspondence_distance = 0.05
static const double	cloudViewer::t::pipelines::registration::normals_search_radius = 10.0
static const int	cloudViewer::t::pipelines::registration::normals_max_neighbors = 30
static const std::vector< float >	cloudViewer::t::pipelines::registration::initial_transform_flat

Macro Definition Documentation

ENUM_ICP_METHOD_DEVICE

#define ENUM_ICP_METHOD_DEVICE	(		BENCHMARK_FUNCTION,
			METHOD_NAME,
			TRANSFORMATION_TYPE,
			DEVICE
	)

Value:

    BENCHMARK_CAPTURE(BENCHMARK_FUNCTION, DEVICE METHOD_NAME##_Float32, \
                      core::Device(DEVICE), core::Float32,              \
                      TRANSFORMATION_TYPE)                              \
            ->Unit(benchmark::kMillisecond);                            \
    BENCHMARK_CAPTURE(BENCHMARK_FUNCTION, DEVICE METHOD_NAME##_Float64, \
                      core::Device(DEVICE), core::Float64,              \
                      TRANSFORMATION_TYPE)                              \
            ->Unit(benchmark::kMillisecond);

Definition at line 230 of file Registration.cpp.