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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/t/pipelines/registration/Registration.h"
#include <benchmark/benchmark.h>
#include "open3d/core/CUDAUtils.h"
#include "open3d/core/nns/NearestNeighborSearch.h"
#include "open3d/data/Dataset.h"
#include "open3d/t/io/PointCloudIO.h"
#include "open3d/t/pipelines/registration/TransformationEstimation.h"
namespace open3d {
namespace t {
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;
// Initial transformation guess for registation.
static const std::vector<float> initial_transform_flat{
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};
static std::tuple<geometry::PointCloud, geometry::PointCloud>
LoadTensorPointCloudFromFile(const std::string& source_pointcloud_filename,
const std::string& target_pointcloud_filename,
const double voxel_downsample_factor,
const core::Dtype& dtype,
const core::Device& device) {
geometry::PointCloud source, target;
io::ReadPointCloud(source_pointcloud_filename, source,
{"auto", false, false, true});
io::ReadPointCloud(target_pointcloud_filename, target,
{"auto", false, false, true});
source = source.To(device);
target = target.To(device);
// 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.");
}
source.SetPointPositions(source.GetPointPositions().To(dtype));
source.SetPointNormals(source.GetPointNormals().To(dtype));
if (source.HasPointColors()) {
source.SetPointColors(source.GetPointColors().To(dtype).Div(255.0));
}
target.SetPointPositions(target.GetPointPositions().To(dtype));
target.SetPointNormals(target.GetPointNormals().To(dtype));
if (target.HasPointColors()) {
target.SetPointColors(target.GetPointColors().To(dtype).Div(255.0));
}
return std::make_tuple(source, target);
}
static void BenchmarkICP(benchmark::State& state,
const core::Device& device,
const core::Dtype& dtype,
const TransformationEstimationType& type) {
utility::SetVerbosityLevel(utility::VerbosityLevel::Error);
data::DemoICPPointClouds demo_icp_pointclouds;
geometry::PointCloud source, target;
std::tie(source, target) = LoadTensorPointCloudFromFile(
demo_icp_pointclouds.GetPaths(0), demo_icp_pointclouds.GetPaths(1),
voxel_downsampling_factor, dtype, device);
std::shared_ptr<TransformationEstimation> estimation;
if (type == TransformationEstimationType::PointToPlane) {
estimation = std::make_shared<TransformationEstimationPointToPlane>();
} else if (type == TransformationEstimationType::PointToPoint) {
estimation = std::make_shared<TransformationEstimationPointToPoint>();
} else if (type == TransformationEstimationType::ColoredICP) {
estimation = std::make_shared<TransformationEstimationForColoredICP>();
}
core::Tensor init_trans =
core::Tensor(initial_transform_flat, {4, 4}, core::Float32, device)
.To(dtype);
RegistrationResult reg_result(init_trans);
// Warm up.
reg_result = ICP(source, target, max_correspondence_distance, init_trans,
*estimation,
ICPConvergenceCriteria(relative_fitness, relative_rmse,
max_iterations));
for (auto _ : state) {
reg_result = ICP(source, target, max_correspondence_distance,
init_trans, *estimation,
ICPConvergenceCriteria(relative_fitness, relative_rmse,
max_iterations));
core::cuda::Synchronize(device);
}
}
#define ENUM_ICP_METHOD_DEVICE(METHOD_NAME, TRANSFORMATION_TYPE, DEVICE) \
BENCHMARK_CAPTURE(BenchmarkICP, DEVICE METHOD_NAME##_Float32, \
core::Device(DEVICE), core::Float32, \
TRANSFORMATION_TYPE) \
->Unit(benchmark::kMillisecond); \
BENCHMARK_CAPTURE(BenchmarkICP, DEVICE METHOD_NAME##_Float64, \
core::Device(DEVICE), core::Float64, \
TRANSFORMATION_TYPE) \
->Unit(benchmark::kMillisecond);
ENUM_ICP_METHOD_DEVICE(PointToPoint,
TransformationEstimationType::PointToPoint,
"CPU:0")
ENUM_ICP_METHOD_DEVICE(PointToPlane,
TransformationEstimationType::PointToPlane,
"CPU:0")
ENUM_ICP_METHOD_DEVICE(ColoredICP,
TransformationEstimationType::ColoredICP,
"CPU:0")
#ifdef BUILD_CUDA_MODULE
ENUM_ICP_METHOD_DEVICE(PointToPoint,
TransformationEstimationType::PointToPoint,
"CUDA:0")
ENUM_ICP_METHOD_DEVICE(PointToPlane,
TransformationEstimationType::PointToPlane,
"CUDA:0")
ENUM_ICP_METHOD_DEVICE(ColoredICP,
TransformationEstimationType::ColoredICP,
"CUDA:0")
#endif
} // namespace registration
} // namespace pipelines
} // namespace t
} // namespace open3d
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