registration.hpp

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// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide
// SPDX-License-Identifier: MIT
#pragma once
 
#include <small_gicp/ann/traits.hpp>
#include <small_gicp/points/traits.hpp>
#include <small_gicp/factors/general_factor.hpp>
#include <small_gicp/registration/rejector.hpp>
#include <small_gicp/registration/reduction.hpp>
#include <small_gicp/registration/optimizer.hpp>
#include <small_gicp/registration/termination_criteria.hpp>
#include <small_gicp/registration/registration_result.hpp>
 
namespace small_gicp {
 
template <
  typename PointFactor,
  typename Reduction,
  typename GeneralFactor = NullFactor,
  typename CorrespondenceRejector = DistanceRejector,
  typename Optimizer = LevenbergMarquardtOptimizer>
struct Registration {
public:
  template <typename TargetPointCloud, typename SourcePointCloud, typename TargetTree>
  RegistrationResult
  align(const TargetPointCloud& target, const SourcePointCloud& source, const TargetTree& target_tree, const Eigen::Isometry3d& init_T = Eigen::Isometry3d::Identity()) const {
    if (traits::size(target) <= 10) {
      std::cerr << "warning: target point cloud is too small. |target|=" << traits::size(target) << std::endl;
    }
    if (traits::size(source) <= 10) {
      std::cerr << "warning: source point cloud is too small. |source|=" << traits::size(source) << std::endl;
    }
 
    std::vector<PointFactor> factors(traits::size(source), PointFactor(point_factor));
    return optimizer.optimize(target, source, target_tree, rejector, criteria, reduction, init_T, factors, general_factor);
  }
 
public:
  using PointFactorSetting = typename PointFactor::Setting;
 
  TerminationCriteria criteria;     
  CorrespondenceRejector rejector;  
  PointFactorSetting point_factor;  
  GeneralFactor general_factor;     
  Reduction reduction;              
  Optimizer optimizer;              
};
 
}  // namespace small_gicp