text: // ----------------------------------------------------------------------------
  // -                        Open3D: www.open3d.org                            -
  // ----------------------------------------------------------------------------
  // The MIT License (MIT)
  //
  // Copyright (c) 2018 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
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  // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
  // IN THE SOFTWARE.
  // ----------------------------------------------------------------------------
  
  #pragma once
  
  #include <Eigen/Core>
  #include <Eigen/Geometry>
  #include <tuple>
  #include <vector>
  
  namespace open3d {
  
  namespace geometry {
  class PointCloud;
  }
  
  namespace registration {
  
  class Feature;
  class RegistrationResult;
  
  /// \class FastGlobalRegistrationOption
  ///
  /// \brief Options for FastGlobalRegistration.
  class FastGlobalRegistrationOption {
  public:
      /// \brief Parameterized Constructor.
      ///
      /// \param division_factor Division factor used for graduated non-convexity.
      /// \param use_absolute_scale Measure distance in absolute scale (1) or in
      /// scale relative to the diameter of the model (0).
      /// \param decrease_mu Set
      /// to `true` to decrease scale mu by division_factor for graduated
      /// non-convexity.
      /// \param maximum_correspondence_distance Maximum
      /// correspondence distance (also see comment of USE_ABSOLUTE_SCALE).
      /// \param iteration_number Maximum number of iterations.
      /// \param tuple_scale Similarity measure used for tuples of feature points.
      /// \param maximum_tuple_count Maximum numer of tuples.
      FastGlobalRegistrationOption(double division_factor = 1.4,
                                   bool use_absolute_scale = false,
                                   bool decrease_mu = true,
                                   double maximum_correspondence_distance = 0.025,
                                   int iteration_number = 64,
                                   double tuple_scale = 0.95,
                                   int maximum_tuple_count = 1000)
          : division_factor_(division_factor),
            use_absolute_scale_(use_absolute_scale),
            decrease_mu_(decrease_mu),
            maximum_correspondence_distance_(maximum_correspondence_distance),
            iteration_number_(iteration_number),
            tuple_scale_(tuple_scale),
            maximum_tuple_count_(maximum_tuple_count) {}
      ~FastGlobalRegistrationOption() {}
  
  public:
      /// Division factor used for graduated non-convexity.
      double division_factor_;
      /// Measure distance in absolute scale (1) or in scale relative to the
      /// diameter of the model (0).
      bool use_absolute_scale_;
      /// Set to `true` to decrease scale mu by division_factor for graduated
      /// non-convexity.
      bool decrease_mu_;
      /// Maximum correspondence distance (also see comment of
      /// USE_ABSOLUTE_SCALE).
      double maximum_correspondence_distance_;
      /// Maximum number of iterations.
      int iteration_number_;
      /// Similarity measure used for tuples of feature points.
      double tuple_scale_;
      /// Maximum number of tuples..
      int maximum_tuple_count_;
  };
  
  RegistrationResult FastGlobalRegistration(
          const geometry::PointCloud &source,
          const geometry::PointCloud &target,
          const Feature &source_feature,
          const Feature &target_feature,
          const FastGlobalRegistrationOption &option =
                  FastGlobalRegistrationOption());
  
  }  // namespace registration
  }  // namespace open3d
  