FastGlobalRegistration.h

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#pragma once

#include <Eigen/Core>
#include <Eigen/Geometry>
#include <tuple>
#include <vector>

#include "open3d/pipelines/registration/TransformationEstimation.h"
#include "open3d/utility/Optional.h"

namespace open3d {

namespace geometry {
class PointCloud;
}

namespace pipelines {
namespace registration {

class Feature;
class RegistrationResult;

class FastGlobalRegistrationOption {
public:
    FastGlobalRegistrationOption(
            double division_factor = 1.4,
            bool use_absolute_scale = false,
            bool decrease_mu = true,
            double maximum_correspondence_distance = 0.025,
            int iteration_number = 64,
            double tuple_scale = 0.95,
            int maximum_tuple_count = 1000,
            bool tuple_test = true,
            utility::optional<unsigned int> seed = utility::nullopt)
        : division_factor_(division_factor),
          use_absolute_scale_(use_absolute_scale),
          decrease_mu_(decrease_mu),
          maximum_correspondence_distance_(maximum_correspondence_distance),
          iteration_number_(iteration_number),
          tuple_scale_(tuple_scale),
          maximum_tuple_count_(maximum_tuple_count),
          tuple_test_(tuple_test),
          seed_(seed) {}
    ~FastGlobalRegistrationOption() {}

public:
    double division_factor_;
    bool use_absolute_scale_;
    bool decrease_mu_;
    double maximum_correspondence_distance_;
    int iteration_number_;
    double tuple_scale_;
    int maximum_tuple_count_;
    bool tuple_test_;
    utility::optional<unsigned int> seed_;
};

RegistrationResult FastGlobalRegistrationBasedOnCorrespondence(
        const geometry::PointCloud &source,
        const geometry::PointCloud &target,
        const CorrespondenceSet &corres,
        const FastGlobalRegistrationOption &option =
                FastGlobalRegistrationOption());

RegistrationResult FastGlobalRegistrationBasedOnFeatureMatching(
        const geometry::PointCloud &source,
        const geometry::PointCloud &target,
        const Feature &source_feature,
        const Feature &target_feature,
        const FastGlobalRegistrationOption &option =
                FastGlobalRegistrationOption());

}  // namespace registration
}  // namespace pipelines
}  // namespace open3d