Open3D (C++ API)  0.12.0
TransformationEstimation.h
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26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <memory>
31 #include <string>
32 #include <utility>
33 #include <vector>
34 
36 
37 namespace open3d {
38 
39 namespace geometry {
40 class PointCloud;
41 }
42 
43 namespace pipelines {
44 namespace registration {
45 
46 typedef std::vector<Eigen::Vector2i> CorrespondenceSet;
47 
49  Unspecified = 0,
50  PointToPoint = 1,
51  PointToPlane = 2,
52  ColoredICP = 3,
53 };
54 
61 public:
65 
66 public:
67  virtual TransformationEstimationType GetTransformationEstimationType()
68  const = 0;
75  virtual double ComputeRMSE(const geometry::PointCloud &source,
76  const geometry::PointCloud &target,
77  const CorrespondenceSet &corres) const = 0;
84  virtual Eigen::Matrix4d ComputeTransformation(
85  const geometry::PointCloud &source,
86  const geometry::PointCloud &target,
87  const CorrespondenceSet &corres) const = 0;
88 };
89 
94 public:
99  TransformationEstimationPointToPoint(bool with_scaling = false)
100  : with_scaling_(with_scaling) {}
102 
103 public:
105  const override {
106  return type_;
107  };
108  double ComputeRMSE(const geometry::PointCloud &source,
109  const geometry::PointCloud &target,
110  const CorrespondenceSet &corres) const override;
111  Eigen::Matrix4d ComputeTransformation(
112  const geometry::PointCloud &source,
113  const geometry::PointCloud &target,
114  const CorrespondenceSet &corres) const override;
115 
116 public:
123  bool with_scaling_ = false;
124 
125 private:
126  const TransformationEstimationType type_ =
127  TransformationEstimationType::PointToPoint;
128 };
129 
134 public:
138 
142  std::shared_ptr<RobustKernel> kernel)
143  : kernel_(std::move(kernel)) {}
144 
145 public:
147  const override {
148  return type_;
149  };
150  double ComputeRMSE(const geometry::PointCloud &source,
151  const geometry::PointCloud &target,
152  const CorrespondenceSet &corres) const override;
153  Eigen::Matrix4d ComputeTransformation(
154  const geometry::PointCloud &source,
155  const geometry::PointCloud &target,
156  const CorrespondenceSet &corres) const override;
157 
158 public:
160  std::shared_ptr<RobustKernel> kernel_ = std::make_shared<L2Loss>();
161 
162 private:
163  const TransformationEstimationType type_ =
164  TransformationEstimationType::PointToPlane;
165 };
166 
167 } // namespace registration
168 } // namespace pipelines
169 } // namespace open3d
~TransformationEstimationPointToPlane() override
Definition: TransformationEstimation.h:137
virtual ~TransformationEstimation()
Definition: TransformationEstimation.h:64
Definition: Optional.h:912
TransformationEstimation()
Default Constructor.
Definition: TransformationEstimation.h:63
std::pair< core::Tensor, core::Tensor > CorrespondenceSet
Definition: TransformationEstimation.h:55
A point cloud consists of point coordinates, and optionally point colors and point normals...
Definition: PointCloud.h:54
TransformationEstimationPointToPoint(bool with_scaling=false)
Parameterized Constructor.
Definition: TransformationEstimation.h:99
TransformationEstimationPointToPlane()
Default Constructor.
Definition: TransformationEstimation.h:136
TransformationEstimationType GetTransformationEstimationType() const override
Definition: TransformationEstimation.h:104
TransformationEstimationPointToPlane(std::shared_ptr< RobustKernel > kernel)
Constructor that takes as input a RobustKernel.
Definition: TransformationEstimation.h:141
~TransformationEstimationPointToPoint() override
Definition: TransformationEstimation.h:101
Definition: PinholeCameraIntrinsic.cpp:35
TransformationEstimationType GetTransformationEstimationType() const override
Definition: TransformationEstimation.h:146
Definition: TransformationEstimation.h:60
TransformationEstimationType
Definition: TransformationEstimation.h:48