Registration.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <tuple>
#include <vector>
 
#include "cloudViewer/core/Tensor.h"
#include "cloudViewer/t/geometry/TensorMap.h"
#include "cloudViewer/t/pipelines/registration/TransformationEstimation.h"
 
namespace cloudViewer {
namespace t {
 
namespace geometry {
class PointCloud;
}
 
namespace pipelines {
namespace registration {
class Feature;
 
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 RegistrationResult {
public:
    RegistrationResult(const core::Tensor &transformation = core::Tensor::Eye(
                               4, core::Float64, core::Device("CPU:0")))
        : transformation_(transformation), inlier_rmse_(0.0), fitness_(0.0) {}
 
    ~RegistrationResult() {}
 
    bool IsBetterThan(const RegistrationResult &other) const {
        return fitness_ > other.fitness_ || (fitness_ == other.fitness_ &&
                                             inlier_rmse_ < other.inlier_rmse_);
    }
 
public:
    core::Tensor transformation_;
    core::Tensor correspondences_;
    double inlier_rmse_;
    double fitness_;
    bool converged_{false};
    size_t num_iterations_{0};
};
 
RegistrationResult EvaluateRegistration(
        const geometry::PointCloud &source,
        const geometry::PointCloud &target,
        double max_correspondence_distance,
        const core::Tensor &transformation =
                core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")));
 
RegistrationResult
ICP(const geometry::PointCloud &source,
    const geometry::PointCloud &target,
    const double max_correspondence_distance,
    const core::Tensor &init_source_to_target =
            core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")),
    const TransformationEstimation &estimation =
            TransformationEstimationPointToPoint(),
    const ICPConvergenceCriteria &criteria = ICPConvergenceCriteria(),
    const double voxel_size = -1.0,
    const std::function<void(const std::unordered_map<std::string, core::Tensor>
                                     &)> &callback_after_iteration = nullptr);
 
RegistrationResult MultiScaleICP(
        const geometry::PointCloud &source,
        const geometry::PointCloud &target,
        const std::vector<double> &voxel_sizes,
        const std::vector<ICPConvergenceCriteria> &criteria_list,
        const std::vector<double> &max_correspondence_distances,
        const core::Tensor &init_source_to_target =
                core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")),
        const TransformationEstimation &estimation =
                TransformationEstimationPointToPoint(),
        const std::function<
                void(const std::unordered_map<std::string, core::Tensor> &)>
                &callback_after_iteration = nullptr);
 
core::Tensor GetInformationMatrix(const geometry::PointCloud &source,
                                  const geometry::PointCloud &target,
                                  const double max_correspondence_distance,
                                  const core::Tensor &transformation);
 
}  // namespace registration
}  // namespace pipelines
}  // namespace t
}  // namespace cloudViewer