PointCloudRegistration.h

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#pragma once
 
#include <Zivid/Calibration/Pose.h>
#include <Zivid/Detail/CoreExport.h>
#include <Zivid/Detail/Pimpl.h>
#include <Zivid/Experimental/LocalPointCloudRegistrationParameters.h>
#include <Zivid/Matrix.h>
#include <Zivid/UnorganizedPointCloud.h>
 
#include <iosfwd>
#include <string>
 
namespace Zivid
{
    namespace Experimental
    {
        namespace Toolbox
        {
            using Pose = Zivid::Calibration::Pose;
 
            class LocalPointCloudRegistrationResult
            {
                ZIVID_PIMPL_VALUE_SEMANTICS(LocalPointCloudRegistrationResult, ZIVID_CORE_EXPORT);
 
            public:
                ZIVID_CORE_EXPORT Pose transform() const;
 
                ZIVID_CORE_EXPORT bool converged() const;
 
                ZIVID_CORE_EXPORT float sourceCoverage() const;
 
                ZIVID_CORE_EXPORT float rootMeanSquareError() const;
 
                ZIVID_CORE_EXPORT std::string toString() const;
            };
 
            ZIVID_CORE_EXPORT std::ostream &operator<<(
                std::ostream &stream,
                const LocalPointCloudRegistrationResult &result);
 
            ZIVID_CORE_EXPORT
            LocalPointCloudRegistrationResult localPointCloudRegistration(
                const UnorganizedPointCloud &target,
                const UnorganizedPointCloud &source,
                const LocalPointCloudRegistrationParameters &params,
                const Pose &initialTransform = Pose{ Matrix4x4::identity() });
        } // namespace Toolbox
    } // namespace Experimental
} // namespace Zivid