registration_helper.hpp

Go to the documentation of this file.

// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide
// SPDX-License-Identifier: MIT
#pragma once
 
#include <small_gicp/ann/kdtree.hpp>
#include <small_gicp/ann/gaussian_voxelmap.hpp>
#include <small_gicp/points/point_cloud.hpp>
#include <small_gicp/registration/registration_result.hpp>
 
namespace small_gicp {
 
std::pair<PointCloud::Ptr, std::shared_ptr<KdTree<PointCloud>>>
preprocess_points(const PointCloud& points, double downsampling_resolution, int num_neighbors = 10, int num_threads = 4);
 
template <typename T, int D>
std::pair<PointCloud::Ptr, std::shared_ptr<KdTree<PointCloud>>>
preprocess_points(const std::vector<Eigen::Matrix<T, D, 1>>& points, double downsampling_resolution, int num_neighbors = 10, int num_threads = 4);
 
GaussianVoxelMap::Ptr create_gaussian_voxelmap(const PointCloud& points, double voxel_resolution);
 
struct RegistrationSetting {
  enum RegistrationType { ICP, PLANE_ICP, GICP, VGICP };
 
  RegistrationType type = GICP;              
  double voxel_resolution = 1.0;             
  double downsampling_resolution = 0.25;     
  double max_correspondence_distance = 1.0;  
  double rotation_eps = 0.1 * M_PI / 180.0;  
  double translation_eps = 1e-3;             
  int num_threads = 4;                       
  int max_iterations = 20;                   
  bool verbose = false;                      
};
 
template <typename T, int D>
RegistrationResult align(
  const std::vector<Eigen::Matrix<T, D, 1>>& target,
  const std::vector<Eigen::Matrix<T, D, 1>>& source,
  const Eigen::Isometry3d& init_T = Eigen::Isometry3d::Identity(),
  const RegistrationSetting& setting = RegistrationSetting());
 
RegistrationResult align(
  const PointCloud& target,
  const PointCloud& source,
  const KdTree<PointCloud>& target_tree,
  const Eigen::Isometry3d& init_T = Eigen::Isometry3d::Identity(),
  const RegistrationSetting& setting = RegistrationSetting());
 
RegistrationResult align(
  const GaussianVoxelMap& target,
  const PointCloud& source,
  const Eigen::Isometry3d& init_T = Eigen::Isometry3d::Identity(),
  const RegistrationSetting& setting = RegistrationSetting());
 
}  // namespace small_gicp