Open3D (C++ API)  0.15.1
ColoredICP.h
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26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <memory>
31 
35 
36 namespace open3d {
37 
38 namespace geometry {
39 class PointCloud;
40 }
41 
42 namespace pipelines {
43 namespace registration {
44 
45 class RegistrationResult;
46 
48 public:
50 
52  const override {
53  return type_;
54  };
56  double lambda_geometric = 0.968,
57  std::shared_ptr<RobustKernel> kernel = std::make_shared<L2Loss>())
58  : lambda_geometric_(lambda_geometric), kernel_(std::move(kernel)) {
59  if (lambda_geometric_ < 0 || lambda_geometric_ > 1.0) {
60  lambda_geometric_ = 0.968;
61  }
62  }
63 
64 public:
65  double ComputeRMSE(const geometry::PointCloud &source,
66  const geometry::PointCloud &target,
67  const CorrespondenceSet &corres) const override;
68  Eigen::Matrix4d ComputeTransformation(
69  const geometry::PointCloud &source,
70  const geometry::PointCloud &target,
71  const CorrespondenceSet &corres) const override;
72 
73 public:
74  double lambda_geometric_ = 0.968;
76  std::shared_ptr<RobustKernel> kernel_ = std::make_shared<L2Loss>();
77 
78 private:
79  const TransformationEstimationType type_ =
81 };
82 
100  const geometry::PointCloud &source,
101  const geometry::PointCloud &target,
102  double max_distance,
103  const Eigen::Matrix4d &init = Eigen::Matrix4d::Identity(),
104  const TransformationEstimationForColoredICP &estimation =
106  const ICPConvergenceCriteria &criteria = ICPConvergenceCriteria());
107 
108 } // namespace registration
109 } // namespace pipelines
110 } // namespace open3d
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:55
Class that defines the convergence criteria of ICP.
Definition: Registration.h:55
double ComputeRMSE(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres) const override
Definition: ColoredICP.cpp:205
TransformationEstimationType GetTransformationEstimationType() const override
Definition: ColoredICP.h:51
std::shared_ptr< RobustKernel > kernel_
shared_ptr to an Abstract RobustKernel that could mutate at runtime.
Definition: ColoredICP.h:76
~TransformationEstimationForColoredICP() override
Definition: ColoredICP.h:49
Eigen::Matrix4d ComputeTransformation(const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres) const override
Definition: ColoredICP.cpp:117
TransformationEstimationForColoredICP(double lambda_geometric=0.968, std::shared_ptr< RobustKernel > kernel=std::make_shared< L2Loss >())
Definition: ColoredICP.h:55
Definition: TransformationEstimation.h:61
TransformationEstimationType
Definition: TransformationEstimation.h:48
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition: TransformationEstimation.h:46
RegistrationResult RegistrationColoredICP(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_distance, const Eigen::Matrix4d &init, const TransformationEstimationForColoredICP &estimation, const ICPConvergenceCriteria &criteria)
Function for Colored ICP registration.
Definition: ColoredICP.cpp:238
Definition: PinholeCameraIntrinsic.cpp:35
Definition: Device.h:138