Inheritance diagram for open3d::t::pipelines::registration::TransformationEstimation:

Public Member Functions
	TransformationEstimation ()
	Default Constructor. More...

virtual	~TransformationEstimation ()

virtual TransformationEstimationType	GetTransformationEstimationType () const =0

virtual double	ComputeRMSE (const geometry::PointCloud &source, const geometry::PointCloud &target, const core::Tensor &correspondences) const =0

virtual core::Tensor	ComputeTransformation (const geometry::PointCloud &source, const geometry::PointCloud &target, const core::Tensor &correspondences, const core::Tensor &current_transform=core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")), const std::size_t iteration=0) const =0

Detailed Description

Base class that estimates a transformation between two point clouds The virtual function ComputeTransformation() must be implemented in subclasses.

Constructor & Destructor Documentation

open3d::t::pipelines::registration::TransformationEstimation::TransformationEstimation ( )

inline

Default Constructor.

virtual open3d::t::pipelines::registration::TransformationEstimation::~TransformationEstimation ( )

inlinevirtual

virtual double open3d::t::pipelines::registration::TransformationEstimation::ComputeRMSE	(	const geometry::PointCloud &	source,
		const geometry::PointCloud &	target,
		const core::Tensor &	correspondences
	)		const

pure virtual

Compute RMSE between source and target points cloud given correspondences.

Parameters

source	Source point cloud. (Float32 or Float64 type).
target	Target point cloud. (Float32 or Float64 type).
correspondences	Tensor of type Int64 containing indices of corresponding target points, where the value is the target index and the index of the value itself is the source index. It contains -1 as value at index with no correspondence.

virtual core::Tensor open3d::t::pipelines::registration::TransformationEstimation::ComputeTransformation	(	const geometry::PointCloud &	source,
		const geometry::PointCloud &	target,
		const core::Tensor &	correspondences,
		const core::Tensor &	current_transform = `core::Tensor::Eye(4, core::Float64, core::Device("CPU:0"))`,
		const std::size_t	iteration = `0`
	)		const

pure virtual

Compute transformation from source to target point cloud given correspondences.

Parameters

source	Source point cloud. (Float32 or Float64 type).
target	Target point cloud. (Float32 or Float64 type).
correspondences	tensor of type Int64 containing indices of corresponding target points, where the value is the target index and the index of the value itself is the source index. It contains -1 as value at index with no correspondence.
current_transform	The current pose estimate of ICP.
iteration	The current iteration number of the ICP algorithm.

Returns: transformation between source to target, a tensor of shape {4, 4}, type Float64 on CPU device.

virtual TransformationEstimationType open3d::t::pipelines::registration::TransformationEstimation::GetTransformationEstimationType ( ) const

pure virtual

The documentation for this class was generated from the following file: