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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "open3d/pipelines/registration/Registration.h"
#include <benchmark/benchmark.h>
#include <Eigen/Eigen>
#include "open3d/data/Dataset.h"
#include "open3d/geometry/KDTreeFlann.h"
#include "open3d/geometry/PointCloud.h"
#include "open3d/io/PointCloudIO.h"
#include "open3d/pipelines/registration/TransformationEstimation.h"
#include "open3d/utility/Logging.h"
namespace open3d {
namespace pipelines {
namespace registration {
// Testing parameters:
// ICP ConvergenceCriteria.
static const double relative_fitness = 1e-6;
static const double relative_rmse = 1e-6;
static const int max_iterations = 10;
static const double voxel_downsampling_factor = 0.02;
// NNS parameter.
static const double max_correspondence_distance = 0.05;
static std::tuple<geometry::PointCloud, geometry::PointCloud> LoadPointCloud(
const std::string& source_filename,
const std::string& target_filename,
const double voxel_downsample_factor) {
geometry::PointCloud source;
geometry::PointCloud target;
io::ReadPointCloud(source_filename, source, {"auto", false, false, true});
io::ReadPointCloud(target_filename, target, {"auto", false, false, true});
// Eliminates the case of impractical values (including negative).
if (voxel_downsample_factor > 0.001) {
source = *source.VoxelDownSample(voxel_downsample_factor);
target = *target.VoxelDownSample(voxel_downsample_factor);
} else {
utility::LogWarning(
" VoxelDownsample: Impractical voxel size [< 0.001], skipping "
"downsampling.");
}
return std::make_tuple(source, target);
}
static void BenchmarkICPLegacy(benchmark::State& state,
const TransformationEstimationType& type) {
data::DemoICPPointClouds demo_icp_pointclouds;
geometry::PointCloud source, target;
std::tie(source, target) = LoadPointCloud(demo_icp_pointclouds.GetPaths(0),
demo_icp_pointclouds.GetPaths(1),
voxel_downsampling_factor);
std::shared_ptr<TransformationEstimation> estimation;
if (type == TransformationEstimationType::PointToPlane) {
estimation = std::make_shared<TransformationEstimationPointToPlane>();
} else if (type == TransformationEstimationType::PointToPoint) {
estimation = std::make_shared<TransformationEstimationPointToPoint>();
}
Eigen::Matrix4d init_trans;
init_trans << 0.862, 0.011, -0.507, 0.5, -0.139, 0.967, -0.215, 0.7, 0.487,
0.255, 0.835, -1.4, 0.0, 0.0, 0.0, 1.0;
RegistrationResult reg_result(init_trans);
// Warm up.
reg_result = RegistrationICP(
source, target, max_correspondence_distance, init_trans,
*estimation,
ICPConvergenceCriteria(relative_fitness, relative_rmse,
max_iterations));
for (auto _ : state) {
reg_result = RegistrationICP(
source, target, max_correspondence_distance, init_trans,
*estimation,
ICPConvergenceCriteria(relative_fitness, relative_rmse,
max_iterations));
}
utility::LogDebug(" Max iterations: {}, Max_correspondence_distance : {}",
max_iterations, max_correspondence_distance);
utility::LogDebug(" Fitness: {} Inlier RMSE: {}", reg_result.fitness_,
reg_result.inlier_rmse_);
}
BENCHMARK_CAPTURE(BenchmarkICPLegacy,
PointToPlane / CPU,
TransformationEstimationType::PointToPlane)
->Unit(benchmark::kMillisecond);
BENCHMARK_CAPTURE(BenchmarkICPLegacy,
PointToPoint / CPU,
TransformationEstimationType::PointToPoint)
->Unit(benchmark::kMillisecond);
} // namespace registration
} // namespace pipelines
} // namespace open3d
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