Open3D (C++ API)  0.18.0+252c867
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 <Eigen/Core>
11 #include <tuple>
12 #include <vector>
13 
16 #include "open3d/utility/Eigen.h"
18 
19 namespace open3d {
20 
21 namespace geometry {
22 class PointCloud;
23 }
24 
25 namespace pipelines {
26 namespace registration {
27 class Feature;
28 
37 public:
45  ICPConvergenceCriteria(double relative_fitness = 1e-6,
46  double relative_rmse = 1e-6,
47  int max_iteration = 30)
48  : relative_fitness_(relative_fitness),
49  relative_rmse_(relative_rmse),
50  max_iteration_(max_iteration) {}
52 
53 public:
62 };
63 
75 public:
81  RANSACConvergenceCriteria(int max_iteration = 100000,
82  double confidence = 0.999)
83  : max_iteration_(max_iteration),
84  confidence_(std::max(std::min(confidence, 1.0), 0.0)) {}
85 
87 
88 public:
92  double confidence_;
93 };
94 
99 public:
104  const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity())
105  : transformation_(transformation), inlier_rmse_(0.0), fitness_(0.0) {}
107  bool IsBetterRANSACThan(const RegistrationResult &other) const {
108  return fitness_ > other.fitness_ || (fitness_ == other.fitness_ &&
109  inlier_rmse_ < other.inlier_rmse_);
110  }
111 
112 public:
114  Eigen::Matrix4d_u transformation_;
118  double inlier_rmse_;
123  double fitness_;
124 };
125 
135  const geometry::PointCloud &source,
136  const geometry::PointCloud &target,
137  double max_correspondence_distance,
138  const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity());
139 
151  const geometry::PointCloud &source,
152  const geometry::PointCloud &target,
153  double max_correspondence_distance,
154  const Eigen::Matrix4d &init = Eigen::Matrix4d::Identity(),
155  const TransformationEstimation &estimation =
157  const ICPConvergenceCriteria &criteria = ICPConvergenceCriteria());
158 
172  const geometry::PointCloud &source,
173  const geometry::PointCloud &target,
174  const CorrespondenceSet &corres,
175  double max_correspondence_distance,
176  const TransformationEstimation &estimation =
178  int ransac_n = 3,
179  const std::vector<std::reference_wrapper<const CorrespondenceChecker>>
180  &checkers = {},
181  const RANSACConvergenceCriteria &criteria =
182  RANSACConvergenceCriteria());
183 
198  const geometry::PointCloud &source,
199  const geometry::PointCloud &target,
200  const Feature &source_features,
201  const Feature &target_features,
202  bool mutual_filter,
203  double max_correspondence_distance,
204  const TransformationEstimation &estimation =
205  TransformationEstimationPointToPoint(false),
206  int ransac_n = 3,
207  const std::vector<std::reference_wrapper<const CorrespondenceChecker>>
208  &checkers = {},
209  const RANSACConvergenceCriteria &criteria =
210  RANSACConvergenceCriteria());
211 
218  const geometry::PointCloud &source,
219  const geometry::PointCloud &target,
220  double max_correspondence_distance,
221  const Eigen::Matrix4d &transformation);
222 
223 } // namespace registration
224 } // namespace pipelines
225 } // namespace open3d
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:36
Class that defines the convergence criteria of ICP.
Definition: Registration.h:36
double relative_rmse_
Definition: Registration.h:59
ICPConvergenceCriteria(double relative_fitness=1e-6, double relative_rmse=1e-6, int max_iteration=30)
Parameterized Constructor.
Definition: Registration.h:45
~ICPConvergenceCriteria()
Definition: Registration.h:51
int max_iteration_
Maximum iteration before iteration stops.
Definition: Registration.h:61
double relative_fitness_
Definition: Registration.h:56
Class that defines the convergence criteria of RANSAC.
Definition: Registration.h:74
double confidence_
Desired probability of success.
Definition: Registration.h:92
RANSACConvergenceCriteria(int max_iteration=100000, double confidence=0.999)
Parameterized Constructor.
Definition: Registration.h:81
int max_iteration_
Maximum iteration before iteration stops.
Definition: Registration.h:90
bool IsBetterRANSACThan(const RegistrationResult &other) const
Definition: Registration.h:107
RegistrationResult(const Eigen::Matrix4d &transformation=Eigen::Matrix4d::Identity())
Parameterized Constructor.
Definition: Registration.h:103
CorrespondenceSet correspondence_set_
Correspondence set between source and target point cloud.
Definition: Registration.h:116
~RegistrationResult()
Definition: Registration.h:106
double fitness_
Definition: Registration.h:123
Eigen::Matrix4d_u transformation_
The estimated transformation matrix.
Definition: Registration.h:114
double inlier_rmse_
RMSE of all inlier correspondences. Lower is better.
Definition: Registration.h:118
Definition: TransformationEstimation.h:42
Eigen::Matrix6d GetInformationMatrixFromPointClouds(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &transformation)
Definition: Registration.cpp:306
RegistrationResult EvaluateRegistration(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &transformation)
Function for evaluating registration between point clouds.
Definition: Registration.cpp:92
RegistrationResult RegistrationRANSACBasedOnCorrespondence(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres, double max_correspondence_distance, const TransformationEstimation &estimation, int ransac_n, const std::vector< std::reference_wrapper< const CorrespondenceChecker >> &checkers, const RANSACConvergenceCriteria &criteria)
Function for global RANSAC registration based on a given set of correspondences.
Definition: Registration.cpp:170
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition: Feature.h:25
RegistrationResult RegistrationICP(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &init, const TransformationEstimation &estimation, const ICPConvergenceCriteria &criteria)
Functions for ICP registration.
Definition: Registration.cpp:108
RegistrationResult RegistrationRANSACBasedOnFeatureMatching(const geometry::PointCloud &source, const geometry::PointCloud &target, const Feature &source_features, const Feature &target_features, bool mutual_filter, double max_correspondence_distance, const TransformationEstimation &estimation, int ransac_n, const std::vector< std::reference_wrapper< const CorrespondenceChecker >> &checkers, const RANSACConvergenceCriteria &criteria)
Function for global RANSAC registration based on feature matching.
Definition: Registration.cpp:280
Definition: PinholeCameraIntrinsic.cpp:16
Definition: Device.h:107