Registration.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
#include <Eigen.h>
#include <Optional.h>
 
#include <Eigen/Core>
#include <tuple>
#include <vector>
 
#include "pipelines/registration/CorrespondenceChecker.h"
#include "pipelines/registration/TransformationEstimation.h"
 
class ccPointCloud;
namespace cloudViewer {
 
namespace utility {
class Feature;
}
 
namespace pipelines {
namespace registration {
 
class ICPConvergenceCriteria {
public:
    ICPConvergenceCriteria(double relative_fitness = 1e-6,
                           double relative_rmse = 1e-6,
                           int max_iteration = 30)
        : relative_fitness_(relative_fitness),
          relative_rmse_(relative_rmse),
          max_iteration_(max_iteration) {}
    ~ICPConvergenceCriteria() {}
 
public:
    double relative_fitness_;
    double relative_rmse_;
    int max_iteration_;
};
 
class RANSACConvergenceCriteria {
public:
    RANSACConvergenceCriteria(int max_iteration = 100000,
                              double confidence = 0.999)
        : max_iteration_(max_iteration), confidence_(confidence) {}
 
    ~RANSACConvergenceCriteria() {}
 
public:
    int max_iteration_;
    double confidence_;
};
 
class RegistrationResult {
public:
    RegistrationResult(
            const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity())
        : transformation_(transformation), inlier_rmse_(0.0), fitness_(0.0) {}
    ~RegistrationResult() {}
    bool IsBetterRANSACThan(const RegistrationResult &other) const {
        return fitness_ > other.fitness_ || (fitness_ == other.fitness_ &&
                                             inlier_rmse_ < other.inlier_rmse_);
    }
 
public:
    Eigen::Matrix4d_u transformation_;
    CorrespondenceSet correspondence_set_;
    double inlier_rmse_;
    double fitness_;
};
 
RegistrationResult EvaluateRegistration(
        const ccPointCloud &source,
        const ccPointCloud &target,
        double max_correspondence_distance,
        const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity());
 
RegistrationResult RegistrationICP(
        const ccPointCloud &source,
        const ccPointCloud &target,
        double max_correspondence_distance,
        const Eigen::Matrix4d &init = Eigen::Matrix4d::Identity(),
        const TransformationEstimation &estimation =
                TransformationEstimationPointToPoint(false),
        const ICPConvergenceCriteria &criteria = ICPConvergenceCriteria());
 
RegistrationResult RegistrationRANSACBasedOnCorrespondence(
        const ccPointCloud &source,
        const ccPointCloud &target,
        const CorrespondenceSet &corres,
        double max_correspondence_distance,
        const TransformationEstimation &estimation =
                TransformationEstimationPointToPoint(false),
        int ransac_n = 3,
        const std::vector<std::reference_wrapper<const CorrespondenceChecker>>
                &checkers = {},
        const RANSACConvergenceCriteria &criteria = RANSACConvergenceCriteria(),
        utility::optional<unsigned int> seed = utility::nullopt);
 
RegistrationResult RegistrationRANSACBasedOnFeatureMatching(
        const ccPointCloud &source,
        const ccPointCloud &target,
        const utility::Feature &source_feature,
        const utility::Feature &target_feature,
        bool mutual_filter,
        double max_correspondence_distance,
        const TransformationEstimation &estimation =
                TransformationEstimationPointToPoint(false),
        int ransac_n = 3,
        const std::vector<std::reference_wrapper<const CorrespondenceChecker>>
                &checkers = {},
        const RANSACConvergenceCriteria &criteria = RANSACConvergenceCriteria(),
        utility::optional<unsigned int> seed = utility::nullopt);
 
Eigen::Matrix6d GetInformationMatrixFromPointClouds(
        const ccPointCloud &source,
        const ccPointCloud &target,
        double max_correspondence_distance,
        const Eigen::Matrix4d &transformation);
}  // namespace registration
}  // namespace pipelines
}  // namespace cloudViewer