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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 <Eigen/Dense>
#include <iostream>
#include <memory>
#include "open3d/Open3D.h"
using namespace open3d;
void VisualizeRegistration(const open3d::geometry::PointCloud &source,
const open3d::geometry::PointCloud &target,
const Eigen::Matrix4d &Transformation) {
std::shared_ptr<geometry::PointCloud> source_transformed_ptr(
new geometry::PointCloud);
std::shared_ptr<geometry::PointCloud> target_ptr(new geometry::PointCloud);
*source_transformed_ptr = source;
*target_ptr = target;
source_transformed_ptr->Transform(Transformation);
visualization::DrawGeometries({source_transformed_ptr, target_ptr},
"Registration result");
}
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > RegistrationColoredICP source_pcd target_pcd [--visualize]");
// clang-format on
utility::LogInfo("");
}
int main(int argc, char *argv[]) {
using namespace open3d;
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
if (argc < 3 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
bool visualize = false;
if (utility::ProgramOptionExists(argc, argv, "--visualize")) {
visualize = true;
}
// Prepare input
std::shared_ptr<geometry::PointCloud> source =
open3d::io::CreatePointCloudFromFile(argv[1]);
std::shared_ptr<geometry::PointCloud> target =
open3d::io::CreatePointCloudFromFile(argv[2]);
if (source == nullptr || target == nullptr) {
utility::LogWarning("Unable to load source or target file.");
return -1;
}
std::vector<double> voxel_sizes = {0.05, 0.05 / 2, 0.05 / 4};
std::vector<int> iterations = {50, 30, 14};
Eigen::Matrix4d trans = Eigen::Matrix4d::Identity();
for (int i = 0; i < 3; ++i) {
float voxel_size = voxel_sizes[i];
auto source_down = source->VoxelDownSample(voxel_size);
source_down->EstimateNormals(open3d::geometry::KDTreeSearchParamHybrid(
voxel_size * 2.0, 30));
auto target_down = target->VoxelDownSample(voxel_size);
target_down->EstimateNormals(open3d::geometry::KDTreeSearchParamHybrid(
voxel_size * 2.0, 30));
auto result = pipelines::registration::RegistrationGeneralizedICP(
*source_down, *target_down, 0.07, trans,
pipelines::registration::
TransformationEstimationForGeneralizedICP(),
pipelines::registration::ICPConvergenceCriteria(1e-6, 1e-6,
iterations[i]));
trans = result.transformation_;
if (visualize) {
VisualizeRegistration(*source, *target, trans);
}
}
std::stringstream ss;
ss << trans;
utility::LogInfo("Final transformation = \n{}", ss.str());
return 0;
}
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