Registration.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "cloudViewer/core/Tensor.h"
#include "cloudViewer/t/pipelines/registration/Registration.h"
#include "cloudViewer/t/pipelines/registration/RobustKernel.h"
 
namespace cloudViewer {
namespace t {
namespace pipelines {
namespace kernel {
 
core::Tensor ComputePosePointToPlane(const core::Tensor &source_positions,
                                     const core::Tensor &target_positions,
                                     const core::Tensor &target_normals,
                                     const core::Tensor &correspondence_indices,
                                     const registration::RobustKernel &kernel);
 
core::Tensor ComputePoseColoredICP(const core::Tensor &source_positions,
                                   const core::Tensor &source_colors,
                                   const core::Tensor &target_positions,
                                   const core::Tensor &target_normals,
                                   const core::Tensor &target_colors,
                                   const core::Tensor &target_color_gradients,
                                   const core::Tensor &correspondence_indices,
                                   const registration::RobustKernel &kernel,
                                   const double &lambda_geometric);
 
core::Tensor ComputePoseDopplerICP(
        const core::Tensor &source_points,
        const core::Tensor &source_dopplers,
        const core::Tensor &source_directions,
        const core::Tensor &target_points,
        const core::Tensor &target_normals,
        const core::Tensor &correspondence_indices,
        const core::Tensor &current_transform,
        const core::Tensor &transform_vehicle_to_sensor,
        const std::size_t iteration,
        const double period,
        const double lambda_doppler,
        const bool reject_dynamic_outliers,
        const double doppler_outlier_threshold,
        const std::size_t outlier_rejection_min_iteration,
        const std::size_t geometric_robust_loss_min_iteration,
        const std::size_t doppler_robust_loss_min_iteration,
        const registration::RobustKernel &geometric_kernel,
        const registration::RobustKernel &doppler_kernel);
 
std::tuple<core::Tensor, core::Tensor> ComputeRtPointToPoint(
        const core::Tensor &source_positions,
        const core::Tensor &target_positions,
        const core::Tensor &correspondence_indices);
 
core::Tensor ComputeInformationMatrix(
        const core::Tensor &target_positions,
        const core::Tensor &correspondence_indices);
 
}  // namespace kernel
}  // namespace pipelines
}  // namespace t
}  // namespace cloudViewer