FastGlobalRegistration.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Optional.h>
 
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <tuple>
#include <vector>
 
#include "cloudViewer/pipelines/registration/TransformationEstimation.h"
 
class ccPointCloud;
namespace cloudViewer {
 
namespace utility {
class Feature;
}
 
namespace pipelines {
namespace registration {
 
class RegistrationResult;
 
class FastGlobalRegistrationOption {
public:
    FastGlobalRegistrationOption(double division_factor = 1.4,
                                 bool use_absolute_scale = false,
                                 bool decrease_mu = true,
                                 double maximum_correspondence_distance = 0.025,
                                 int iteration_number = 64,
                                 double tuple_scale = 0.95,
                                 int maximum_tuple_count = 1000,
                                 bool tuple_test = true)
        : division_factor_(division_factor),
          use_absolute_scale_(use_absolute_scale),
          decrease_mu_(decrease_mu),
          maximum_correspondence_distance_(maximum_correspondence_distance),
          iteration_number_(iteration_number),
          tuple_scale_(tuple_scale),
          maximum_tuple_count_(maximum_tuple_count),
          tuple_test_(tuple_test) {}
    ~FastGlobalRegistrationOption() {}
 
public:
    double division_factor_;
    bool use_absolute_scale_;
    bool decrease_mu_;
    double maximum_correspondence_distance_;
    int iteration_number_;
    double tuple_scale_;
    int maximum_tuple_count_;
    bool tuple_test_;
};
 
RegistrationResult FastGlobalRegistrationBasedOnCorrespondence(
        const ccPointCloud &source,
        const ccPointCloud &target,
        const CorrespondenceSet &corres,
        const FastGlobalRegistrationOption &option =
                FastGlobalRegistrationOption());
 
RegistrationResult FastGlobalRegistrationBasedOnFeatureMatching(
        const ccPointCloud &source,
        const ccPointCloud &target,
        const utility::Feature &source_feature,
        const utility::Feature &target_feature,
        const FastGlobalRegistrationOption &option =
                FastGlobalRegistrationOption());
 
}  // namespace registration
}  // namespace pipelines
}  // namespace cloudViewer