Open3D (C++ API)  0.18.0
Loading...
Searching...
No Matches
Registration.h
Go to the documentation of this file.
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_;
95 bool converged_{false};
97 size_t num_iterations_{0};
98};
99
108RegistrationResult EvaluateRegistration(
109 const geometry::PointCloud &source,
110 const geometry::PointCloud &target,
111 double max_correspondence_distance,
112 const core::Tensor &transformation =
114
133RegistrationResult
134ICP(const geometry::PointCloud &source,
135 const geometry::PointCloud &target,
136 const double max_correspondence_distance,
137 const core::Tensor &init_source_to_target =
139 const TransformationEstimation &estimation =
140 TransformationEstimationPointToPoint(),
141 const ICPConvergenceCriteria &criteria = ICPConvergenceCriteria(),
142 const double voxel_size = -1.0,
143 const std::function<void(const std::unordered_map<std::string, core::Tensor>
144 &)> &callback_after_iteration = nullptr);
145
171RegistrationResult MultiScaleICP(
172 const geometry::PointCloud &source,
173 const geometry::PointCloud &target,
174 const std::vector<double> &voxel_sizes,
175 const std::vector<ICPConvergenceCriteria> &criteria_list,
176 const std::vector<double> &max_correspondence_distances,
177 const core::Tensor &init_source_to_target =
179 const TransformationEstimation &estimation =
180 TransformationEstimationPointToPoint(),
181 const std::function<
182 void(const std::unordered_map<std::string, core::Tensor> &)>
183 &callback_after_iteration = nullptr);
184
196 const geometry::PointCloud &target,
197 const double max_correspondence_distance,
198 const core::Tensor &transformation);
199
200} // namespace registration
201} // namespace pipelines
202} // namespace t
203} // 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:386
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
bool converged_
Specifies whether the algorithm converged or not.
Definition Registration.h:95
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
size_t num_iterations_
Number of iterations the algorithm took to converge.
Definition Registration.h:97
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:344
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 transfromation between source and target pointcloud....
Definition Registration.cpp:426
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