ColoredICP.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
#include <memory>
 
#include "open3d/pipelines/registration/Registration.h"
#include "open3d/pipelines/registration/RobustKernel.h"
#include "open3d/pipelines/registration/TransformationEstimation.h"
 
namespace open3d {
 
namespace geometry {
class PointCloud;
}
 
namespace pipelines {
namespace registration {
 
class RegistrationResult;
 
class TransformationEstimationForColoredICP : public TransformationEstimation {
public:
    ~TransformationEstimationForColoredICP() override{};
 
    TransformationEstimationType GetTransformationEstimationType()
            const override {
        return type_;
    };
    explicit TransformationEstimationForColoredICP(
            double lambda_geometric = 0.968,
            std::shared_ptr<RobustKernel> kernel = std::make_shared<L2Loss>())
        : lambda_geometric_(lambda_geometric), kernel_(std::move(kernel)) {
        if (lambda_geometric_ < 0 || lambda_geometric_ > 1.0) {
            lambda_geometric_ = 0.968;
        }
    }
 
public:
    double ComputeRMSE(const geometry::PointCloud &source,
                       const geometry::PointCloud &target,
                       const CorrespondenceSet &corres) const override;
    Eigen::Matrix4d ComputeTransformation(
            const geometry::PointCloud &source,
            const geometry::PointCloud &target,
            const CorrespondenceSet &corres) const override;
 
public:
    double lambda_geometric_ = 0.968;
    std::shared_ptr<RobustKernel> kernel_ = std::make_shared<L2Loss>();
 
private:
    const TransformationEstimationType type_ =
            TransformationEstimationType::ColoredICP;
};
 
RegistrationResult RegistrationColoredICP(
        const geometry::PointCloud &source,
        const geometry::PointCloud &target,
        double max_distance,
        const Eigen::Matrix4d &init = Eigen::Matrix4d::Identity(),
        const TransformationEstimationForColoredICP &estimation =
                TransformationEstimationForColoredICP(),
        const ICPConvergenceCriteria &criteria = ICPConvergenceCriteria());
 
}  // namespace registration
}  // namespace pipelines
}  // namespace open3d