matching.h

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#ifndef MAP_MERGE_MATCHING_H_
#define MAP_MERGE_MATCHING_H_

#include <map_merge_3d/enum.h>
#include <map_merge_3d/typedefs.h>

namespace map_merge_3d
{
CorrespondencesPtr findFeatureCorrespondences(
    const LocalDescriptorsPtr &source_descriptors,
    const LocalDescriptorsPtr &target_descriptors, size_t k = 5);

Eigen::Matrix4f estimateTransformFromCorrespondences(
    const PointCloudPtr &source_keypoints,
    const PointCloudPtr &target_keypoints,
    const CorrespondencesPtr &correspondences, CorrespondencesPtr &inliers,
    double inlier_threshold);

Eigen::Matrix4f estimateTransformFromDescriptorsSets(
    const PointCloudPtr &source_keypoints,
    const LocalDescriptorsPtr &source_descriptors,
    const PointCloudPtr &target_keypoints,
    const LocalDescriptorsPtr &target_descriptors, double min_sample_distance,
    double max_correspondence_distance, int max_iterations);

Eigen::Matrix4f estimateTransformICP(const PointCloudPtr &source_points,
                                     const PointCloudPtr &target_points,
                                     const Eigen::Matrix4f &initial_guess,
                                     double max_correspondence_distance,
                                     double outlier_rejection_threshold,
                                     int max_iterations = 100,
                                     double transformation_epsilon = 0.0);

// defines enum class EstimationMethod + string conversions
ENUM_CLASS(EstimationMethod, MATCHING, SAC_IA);

Eigen::Matrix4f estimateTransform(
    const PointCloudPtr &source_points, const PointCloudPtr &source_keypoints,
    const LocalDescriptorsPtr &source_descriptors,
    const PointCloudPtr &target_points, const PointCloudPtr &target_keypoints,
    const LocalDescriptorsPtr &target_descriptors, EstimationMethod method,
    bool refine, double inlier_threshold, double max_correspondence_distance,
    int max_iterations, size_t matching_k, double transform_epsilon);

double transformScore(const PointCloudPtr &source_points,
                      const PointCloudPtr &target_points,
                      const Eigen::Matrix4f &transform, double max_distance);


}  // namespace map_merge_3d

#endif  // MAP_MERGE_MATCHING_H_