Open3D (C++ API)  0.15.1
TransformationEstimation.h
Go to the documentation of this file.
1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// The MIT License (MIT)
5//
6// Copyright (c) 2018-2021 www.open3d.org
7//
8// Permission is hereby granted, free of charge, to any person obtaining a copy
9// of this software and associated documentation files (the "Software"), to deal
10// in the Software without restriction, including without limitation the rights
11// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12// copies of the Software, and to permit persons to whom the Software is
13// furnished to do so, subject to the following conditions:
14//
15// The above copyright notice and this permission notice shall be included in
16// all copies or substantial portions of the Software.
17//
18// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24// IN THE SOFTWARE.
25// ----------------------------------------------------------------------------
26
27#pragma once
28
29#include <Eigen/Core>
30#include <memory>
31#include <string>
32#include <utility>
33#include <vector>
34
36
37namespace open3d {
38
39namespace geometry {
40class PointCloud;
41}
42
43namespace pipelines {
44namespace registration {
45
46typedef std::vector<Eigen::Vector2i> CorrespondenceSet;
47
49 Unspecified = 0,
50 PointToPoint = 1,
51 PointToPlane = 2,
52 ColoredICP = 3,
54};
55
62public:
66
67public:
69 const = 0;
76 virtual double ComputeRMSE(const geometry::PointCloud &source,
77 const geometry::PointCloud &target,
78 const CorrespondenceSet &corres) const = 0;
85 virtual Eigen::Matrix4d ComputeTransformation(
86 const geometry::PointCloud &source,
87 const geometry::PointCloud &target,
88 const CorrespondenceSet &corres) const = 0;
89};
90
95public:
100 TransformationEstimationPointToPoint(bool with_scaling = false)
101 : with_scaling_(with_scaling) {}
103
104public:
106 const override {
107 return type_;
108 };
109 double ComputeRMSE(const geometry::PointCloud &source,
110 const geometry::PointCloud &target,
111 const CorrespondenceSet &corres) const override;
112 Eigen::Matrix4d ComputeTransformation(
113 const geometry::PointCloud &source,
114 const geometry::PointCloud &target,
115 const CorrespondenceSet &corres) const override;
116
117public:
124 bool with_scaling_ = false;
125
126private:
127 const TransformationEstimationType type_ =
129};
130
135public:
139
143 std::shared_ptr<RobustKernel> kernel)
144 : kernel_(std::move(kernel)) {}
145
146public:
148 const override {
149 return type_;
150 };
151 double ComputeRMSE(const geometry::PointCloud &source,
152 const geometry::PointCloud &target,
153 const CorrespondenceSet &corres) const override;
154 Eigen::Matrix4d ComputeTransformation(
155 const geometry::PointCloud &source,
156 const geometry::PointCloud &target,
157 const CorrespondenceSet &corres) const override;
158
159public:
161 std::shared_ptr<RobustKernel> kernel_ = std::make_shared<L2Loss>();
162
163private:
164 const TransformationEstimationType type_ =
166};
167
168} // namespace registration
169} // namespace pipelines
170} // namespace open3d
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:55
Definition: TransformationEstimation.h:61
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 TransformationEstimationType GetTransformationEstimationType() const =0
virtual ~TransformationEstimation()
Definition: TransformationEstimation.h:65
TransformationEstimation()
Default Constructor.
Definition: TransformationEstimation.h:64
double ComputeRMSE(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres) const override
Definition: TransformationEstimation.cpp:64
TransformationEstimationPointToPlane()
Default Constructor.
Definition: TransformationEstimation.h:137
Eigen::Matrix4d ComputeTransformation(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres) const override
Definition: TransformationEstimation.cpp:78
~TransformationEstimationPointToPlane() override
Definition: TransformationEstimation.h:138
std::shared_ptr< RobustKernel > kernel_
shared_ptr to an Abstract RobustKernel that could mutate at runtime.
Definition: TransformationEstimation.h:161
TransformationEstimationType GetTransformationEstimationType() const override
Definition: TransformationEstimation.h:147
TransformationEstimationPointToPlane(std::shared_ptr< RobustKernel > kernel)
Constructor that takes as input a RobustKernel.
Definition: TransformationEstimation.h:142
TransformationEstimationPointToPoint(bool with_scaling=false)
Parameterized Constructor.
Definition: TransformationEstimation.h:100
double ComputeRMSE(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres) const override
Definition: TransformationEstimation.cpp:38
Eigen::Matrix4d ComputeTransformation(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres) const override
Definition: TransformationEstimation.cpp:50
TransformationEstimationType GetTransformationEstimationType() const override
Definition: TransformationEstimation.h:105
bool with_scaling_
Set to True to estimate scaling, False to force scaling to be 1.
Definition: TransformationEstimation.h:124
~TransformationEstimationPointToPoint() override
Definition: TransformationEstimation.h:102
TransformationEstimationType
Definition: TransformationEstimation.h:48
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition: TransformationEstimation.h:46
Definition: PinholeCameraIntrinsic.cpp:35
Definition: Device.h:138