TransformationEstimation.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
#include "open3d/core/Tensor.h"
#include "open3d/t/geometry/PointCloud.h"
#include "open3d/t/pipelines/kernel/TransformationConverter.h"
#include "open3d/t/pipelines/registration/RobustKernel.h"
 
namespace open3d {
 
namespace t {
namespace geometry {
class PointCloud;
}
 
namespace pipelines {
namespace registration {
 
enum class TransformationEstimationType {
    Unspecified = 0,
    PointToPoint = 1,
    PointToPlane = 2,
    ColoredICP = 3,
};
 
class TransformationEstimation {
public:
    TransformationEstimation() {}
    virtual ~TransformationEstimation() {}
 
public:
    virtual TransformationEstimationType GetTransformationEstimationType()
            const = 0;
 
    virtual double ComputeRMSE(const geometry::PointCloud &source,
                               const geometry::PointCloud &target,
                               const core::Tensor &correspondences) const = 0;
    virtual core::Tensor ComputeTransformation(
            const geometry::PointCloud &source,
            const geometry::PointCloud &target,
            const core::Tensor &correspondences) const = 0;
};
 
class TransformationEstimationPointToPoint : public TransformationEstimation {
public:
    // TODO: support with_scaling.
    TransformationEstimationPointToPoint() {}
    ~TransformationEstimationPointToPoint() override {}
 
public:
    TransformationEstimationType GetTransformationEstimationType()
            const override {
        return type_;
    };
    double ComputeRMSE(const geometry::PointCloud &source,
                       const geometry::PointCloud &target,
                       const core::Tensor &correspondences) const override;
 
    core::Tensor ComputeTransformation(
            const geometry::PointCloud &source,
            const geometry::PointCloud &target,
            const core::Tensor &correspondences) const override;
 
private:
    const TransformationEstimationType type_ =
            TransformationEstimationType::PointToPoint;
};
 
class TransformationEstimationPointToPlane : public TransformationEstimation {
public:
    TransformationEstimationPointToPlane() {}
    ~TransformationEstimationPointToPlane() override {}
 
    explicit TransformationEstimationPointToPlane(const RobustKernel &kernel)
        : kernel_(kernel) {}
 
public:
    TransformationEstimationType GetTransformationEstimationType()
            const override {
        return type_;
    };
 
    double ComputeRMSE(const geometry::PointCloud &source,
                       const geometry::PointCloud &target,
                       const core::Tensor &correspondences) const override;
 
    core::Tensor ComputeTransformation(
            const geometry::PointCloud &source,
            const geometry::PointCloud &target,
            const core::Tensor &correspondences) const override;
 
public:
    RobustKernel kernel_ = RobustKernel(RobustKernelMethod::L2Loss, 1.0, 1.0);
 
private:
    const TransformationEstimationType type_ =
            TransformationEstimationType::PointToPlane;
};
 
class TransformationEstimationForColoredICP : public TransformationEstimation {
public:
    ~TransformationEstimationForColoredICP() override{};
 
    explicit TransformationEstimationForColoredICP(
            double lambda_geometric = 0.968,
            const RobustKernel &kernel =
                    RobustKernel(RobustKernelMethod::L2Loss, 1.0, 1.0))
        : lambda_geometric_(lambda_geometric), kernel_(kernel) {
        if (lambda_geometric_ < 0 || lambda_geometric_ > 1.0) {
            lambda_geometric_ = 0.968;
        }
    }
 
    TransformationEstimationType GetTransformationEstimationType()
            const override {
        return type_;
    };
 
public:
    double ComputeRMSE(const geometry::PointCloud &source,
                       const geometry::PointCloud &target,
                       const core::Tensor &correspondences) const override;
 
    core::Tensor ComputeTransformation(
            const geometry::PointCloud &source,
            const geometry::PointCloud &target,
            const core::Tensor &correspondences) const override;
 
public:
    double lambda_geometric_ = 0.968;
    RobustKernel kernel_ = RobustKernel(RobustKernelMethod::L2Loss, 1.0, 1.0);
 
private:
    const TransformationEstimationType type_ =
            TransformationEstimationType::ColoredICP;
};
 
}  // namespace registration
}  // namespace pipelines
}  // namespace t
}  // namespace open3d