NormalDistributionsTransform.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
 
#include "open3d/pipelines/registration/Registration.h"
 
namespace open3d {
 
namespace geometry {
class PointCloud;
}
 
namespace pipelines {
namespace registration {
 
class NormalDistributionsTransformOption {
public:
    NormalDistributionsTransformOption(double voxel_size = 1.0,
                                       int min_points_per_voxel = 6,
                                       double covariance_regularization = 1e-3,
                                       double transformation_epsilon = 1e-6,
                                       double relative_objective = 1e-6,
                                       int max_iteration = 30,
                                       double outlier_threshold = 9.0,
                                       int neighbor_search_type = 1);
 
    ~NormalDistributionsTransformOption() {}
 
public:
    double voxel_size_;
    int min_points_per_voxel_;
    double covariance_regularization_;
    double transformation_epsilon_;
    double relative_objective_;
    int max_iteration_;
    double outlier_threshold_;
    int neighbor_search_type_;
};
 
RegistrationResult RegistrationNDT(
        const geometry::PointCloud &source,
        const geometry::PointCloud &target,
        const NormalDistributionsTransformOption &option =
                NormalDistributionsTransformOption(),
        const Eigen::Matrix4d &init = Eigen::Matrix4d::Identity());
 
}  // namespace registration
}  // namespace pipelines
}  // namespace open3d