TransformationEstimation.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2026 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
#include "open3d/pipelines/registration/RobustKernel.h"
 
namespace open3d {
 
namespace geometry {
class PointCloud;
}
 
namespace pipelines {
namespace registration {
 
typedef std::vector<Eigen::Vector2i> CorrespondenceSet;
 
enum class TransformationEstimationType {
    Unspecified = 0,
    PointToPoint = 1,
    PointToPlane = 2,
    ColoredICP = 3,
    GeneralizedICP = 4,
    SymmetricICP = 5,
};
 
class TransformationEstimation {
public:
    TransformationEstimation() {}
    virtual ~TransformationEstimation() {}
 
public:
    virtual TransformationEstimationType GetTransformationEstimationType()
            const = 0;
    virtual double ComputeRMSE(const geometry::PointCloud &source,
                               const geometry::PointCloud &target,
                               const CorrespondenceSet &corres) const = 0;
    virtual Eigen::Matrix4d ComputeTransformation(
            const geometry::PointCloud &source,
            const geometry::PointCloud &target,
            const CorrespondenceSet &corres) const = 0;
 
    virtual std::tuple<std::shared_ptr<const geometry::PointCloud>,
                       std::shared_ptr<const geometry::PointCloud>>
    InitializePointCloudsForTransformation(
            const geometry::PointCloud &source,
            const geometry::PointCloud &target,
            double max_correspondence_distance) const = 0;
};
 
class TransformationEstimationPointToPoint : public TransformationEstimation {
public:
    TransformationEstimationPointToPoint(bool with_scaling = false)
        : with_scaling_(with_scaling) {}
    ~TransformationEstimationPointToPoint() override {}
 
public:
    TransformationEstimationType GetTransformationEstimationType()
            const override {
        return type_;
    };
    double ComputeRMSE(const geometry::PointCloud &source,
                       const geometry::PointCloud &target,
                       const CorrespondenceSet &corres) const override;
    Eigen::Matrix4d ComputeTransformation(
            const geometry::PointCloud &source,
            const geometry::PointCloud &target,
            const CorrespondenceSet &corres) const override;
 
    std::tuple<std::shared_ptr<const geometry::PointCloud>,
               std::shared_ptr<const geometry::PointCloud>>
    InitializePointCloudsForTransformation(
            const geometry::PointCloud &source,
            const geometry::PointCloud &target,
            double max_correspondence_distance) const override;
 
public:
    bool with_scaling_ = false;
 
private:
    const TransformationEstimationType type_ =
            TransformationEstimationType::PointToPoint;
};
 
class TransformationEstimationPointToPlane : public TransformationEstimation {
public:
    TransformationEstimationPointToPlane() {}
    ~TransformationEstimationPointToPlane() override {}
 
    explicit TransformationEstimationPointToPlane(
            std::shared_ptr<RobustKernel> kernel)
        : kernel_(std::move(kernel)) {}
 
public:
    TransformationEstimationType GetTransformationEstimationType()
            const override {
        return type_;
    };
    double ComputeRMSE(const geometry::PointCloud &source,
                       const geometry::PointCloud &target,
                       const CorrespondenceSet &corres) const override;
    Eigen::Matrix4d ComputeTransformation(
            const geometry::PointCloud &source,
            const geometry::PointCloud &target,
            const CorrespondenceSet &corres) const override;
 
    std::tuple<std::shared_ptr<const geometry::PointCloud>,
               std::shared_ptr<const geometry::PointCloud>>
    InitializePointCloudsForTransformation(
            const geometry::PointCloud &source,
            const geometry::PointCloud &target,
            double max_correspondence_distance) const override;
 
public:
    std::shared_ptr<RobustKernel> kernel_ = std::make_shared<L2Loss>();
 
private:
    const TransformationEstimationType type_ =
            TransformationEstimationType::PointToPlane;
};
 
}  // namespace registration
}  // namespace pipelines
}  // namespace open3d