Registration.h

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#pragma once

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

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

namespace open3d {

namespace geometry {
class PointCloud;
}

namespace pipelines {
namespace registration {
class Feature;

class ICPConvergenceCriteria {
public:
    ICPConvergenceCriteria(double relative_fitness = 1e-6,
                           double relative_rmse = 1e-6,
                           int max_iteration = 30)
        : relative_fitness_(relative_fitness),
          relative_rmse_(relative_rmse),
          max_iteration_(max_iteration) {}
    ~ICPConvergenceCriteria() {}

public:
    double relative_fitness_;
    double relative_rmse_;
    int max_iteration_;
};

class RANSACConvergenceCriteria {
public:
    RANSACConvergenceCriteria(int max_iteration = 100000,
                              double confidence = 0.999)
        : max_iteration_(max_iteration),
          confidence_(std::max(std::min(confidence, 1.0), 0.0)) {}

    ~RANSACConvergenceCriteria() {}

public:
    int max_iteration_;
    double confidence_;
};

class RegistrationResult {
public:
    RegistrationResult(
            const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity())
        : transformation_(transformation), inlier_rmse_(0.0), fitness_(0.0) {}
    ~RegistrationResult() {}
    bool IsBetterRANSACThan(const RegistrationResult &other) const {
        return fitness_ > other.fitness_ || (fitness_ == other.fitness_ &&
                                             inlier_rmse_ < other.inlier_rmse_);
    }

public:
    Eigen::Matrix4d_u transformation_;
    CorrespondenceSet correspondence_set_;
    double inlier_rmse_;
    double fitness_;
};

RegistrationResult EvaluateRegistration(
        const geometry::PointCloud &source,
        const geometry::PointCloud &target,
        double max_correspondence_distance,
        const Eigen::Matrix4d &transformation = Eigen::Matrix4d::Identity());

RegistrationResult RegistrationICP(
        const geometry::PointCloud &source,
        const geometry::PointCloud &target,
        double max_correspondence_distance,
        const Eigen::Matrix4d &init = Eigen::Matrix4d::Identity(),
        const TransformationEstimation &estimation =
                TransformationEstimationPointToPoint(false),
        const ICPConvergenceCriteria &criteria = ICPConvergenceCriteria());

RegistrationResult RegistrationRANSACBasedOnCorrespondence(
        const geometry::PointCloud &source,
        const geometry::PointCloud &target,
        const CorrespondenceSet &corres,
        double max_correspondence_distance,
        const TransformationEstimation &estimation =
                TransformationEstimationPointToPoint(false),
        int ransac_n = 3,
        const std::vector<std::reference_wrapper<const CorrespondenceChecker>>
                &checkers = {},
        const RANSACConvergenceCriteria &criteria =
                RANSACConvergenceCriteria());

RegistrationResult RegistrationRANSACBasedOnFeatureMatching(
        const geometry::PointCloud &source,
        const geometry::PointCloud &target,
        const Feature &source_feature,
        const Feature &target_feature,
        bool mutual_filter,
        double max_correspondence_distance,
        const TransformationEstimation &estimation =
                TransformationEstimationPointToPoint(false),
        int ransac_n = 3,
        const std::vector<std::reference_wrapper<const CorrespondenceChecker>>
                &checkers = {},
        const RANSACConvergenceCriteria &criteria =
                RANSACConvergenceCriteria());

Eigen::Matrix6d GetInformationMatrixFromPointClouds(
        const geometry::PointCloud &source,
        const geometry::PointCloud &target,
        double max_correspondence_distance,
        const Eigen::Matrix4d &transformation);

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