Open3D (C++ API)  0.17.0
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Registration.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <tuple>
11#include <vector>
12
13#include "open3d/core/Tensor.h"
16
17namespace open3d {
18namespace t {
19
20namespace geometry {
21class PointCloud;
22}
23
24namespace pipelines {
25namespace registration {
26class Feature;
27
32public:
43 ICPConvergenceCriteria(double relative_fitness = 1e-6,
44 double relative_rmse = 1e-6,
45 int max_iteration = 30)
46 : relative_fitness_(relative_fitness),
47 relative_rmse_(relative_rmse),
48 max_iteration_(max_iteration) {}
50
51public:
60};
61
66public:
72 4, core::Float64, core::Device("CPU:0")))
73 : transformation_(transformation), inlier_rmse_(0.0), fitness_(0.0) {}
74
76
77 bool IsBetterThan(const RegistrationResult &other) const {
78 return fitness_ > other.fitness_ || (fitness_ == other.fitness_ &&
80 }
81
82public:
93 double fitness_;
94};
95
105 const geometry::PointCloud &source,
106 const geometry::PointCloud &target,
107 double max_correspondence_distance,
108 const core::Tensor &transformation =
110
130ICP(const geometry::PointCloud &source,
131 const geometry::PointCloud &target,
132 const double max_correspondence_distance,
133 const core::Tensor &init_source_to_target =
135 const TransformationEstimation &estimation =
138 const double voxel_size = -1.0,
139 const std::function<void(const std::unordered_map<std::string, core::Tensor>
140 &)> &callback_after_iteration = nullptr);
141
168 const geometry::PointCloud &source,
169 const geometry::PointCloud &target,
170 const std::vector<double> &voxel_sizes,
171 const std::vector<ICPConvergenceCriteria> &criteria_list,
172 const std::vector<double> &max_correspondence_distances,
173 const core::Tensor &init_source_to_target =
175 const TransformationEstimation &estimation =
177 const std::function<
178 void(const std::unordered_map<std::string, core::Tensor> &)>
179 &callback_after_iteration = nullptr);
180
192 const geometry::PointCloud &target,
193 const double max_correspondence_distance,
194 const core::Tensor &transformation);
195
196} // namespace registration
197} // namespace pipelines
198} // namespace t
199} // namespace open3d
Definition Device.h:18
Definition Tensor.h:32
static Tensor Eye(int64_t n, Dtype dtype, const Device &device)
Create an identity matrix of size n x n.
Definition Tensor.cpp:385
A point cloud contains a list of 3D points.
Definition PointCloud.h:80
Class that defines the convergence criteria of ICP.
Definition Registration.h:31
double relative_fitness_
Definition Registration.h:54
ICPConvergenceCriteria(double relative_fitness=1e-6, double relative_rmse=1e-6, int max_iteration=30)
Parameterized Constructor. ICP algorithm stops if the relative change of fitness and rmse hit relativ...
Definition Registration.h:43
int max_iteration_
Maximum iteration before iteration stops.
Definition Registration.h:59
core::Tensor correspondences_
Definition Registration.h:88
double fitness_
Definition Registration.h:93
core::Tensor transformation_
The estimated transformation matrix of dtype Float64 on CPU device.
Definition Registration.h:84
bool IsBetterThan(const RegistrationResult &other) const
Definition Registration.h:77
RegistrationResult(const core::Tensor &transformation=core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")))
Parameterized Constructor.
Definition Registration.h:71
double inlier_rmse_
RMSE of all inlier correspondences. Lower is better.
Definition Registration.h:90
Definition TransformationEstimation.h:42
const Dtype Float64
Definition Dtype.cpp:43
RegistrationResult MultiScaleICP(const geometry::PointCloud &source, const geometry::PointCloud &target, const std::vector< double > &voxel_sizes, const std::vector< ICPConvergenceCriteria > &criterias, const std::vector< double > &max_correspondence_distances, const core::Tensor &init_source_to_target, const TransformationEstimation &estimation, const std::function< void(const std::unordered_map< std::string, core::Tensor > &)> &callback_after_iteration)
Functions for Multi-Scale ICP registration. It will run ICP on different voxel level,...
Definition Registration.cpp:318
core::Tensor GetInformationMatrix(const geometry::PointCloud &source, const geometry::PointCloud &target, const double max_correspondence_distance, const core::Tensor &transformation)
Computes Information Matrix, from the transformation between source and target pointcloud....
Definition Registration.cpp:397
RegistrationResult EvaluateRegistration(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const core::Tensor &transformation)
Function for evaluating registration between point clouds.
Definition Registration.cpp:64
RegistrationResult ICP(const geometry::PointCloud &source, const geometry::PointCloud &target, const double max_correspondence_distance, const core::Tensor &init_source_to_target, const TransformationEstimation &estimation, const ICPConvergenceCriteria &criteria, const double voxel_size, const std::function< void(const std::unordered_map< std::string, core::Tensor > &)> &callback_after_iteration)
Functions for ICP registration.
Definition Registration.cpp:94
Definition PinholeCameraIntrinsic.cpp:16