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

Public Member Functions
	TransformationEstimationPointToPoint ()

	~TransformationEstimationPointToPoint () override

TransformationEstimationType	GetTransformationEstimationType () const override

double	ComputeRMSE (const geometry::PointCloud &source, const geometry::PointCloud &target, const core::Tensor &correspondences) const override
	Computes RMSE (double) for PointToPoint method, between two pointclouds, given correspondences. More...

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 override
	Estimates the transformation matrix for PointToPoint method, a tensor of shape {4, 4}, and dtype Float64 on CPU device. More...

Public Member Functions inherited from open3d::t::pipelines::registration::TransformationEstimation
	TransformationEstimation ()
	Default Constructor. More...

virtual	~TransformationEstimation ()

Detailed Description

Class to estimate a transformation matrix tensor of shape {4, 4}, dtype Float64, on CPU device for point to point distance.

Constructor & Destructor Documentation

open3d::t::pipelines::registration::TransformationEstimationPointToPoint::TransformationEstimationPointToPoint ( )

inline

open3d::t::pipelines::registration::TransformationEstimationPointToPoint::~TransformationEstimationPointToPoint ( )

inlineoverride

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

overridevirtual

Computes RMSE (double) for PointToPoint method, between two pointclouds, given correspondences.

Parameters

source	Source pointcloud. (Float32 or Float64 type).
target	Target pointcloud. (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.

core::Tensor open3d::t::pipelines::registration::TransformationEstimationPointToPoint::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

overridevirtual

Estimates the transformation matrix for PointToPoint method, a tensor of shape {4, 4}, and dtype Float64 on CPU device.

Parameters

source	Source pointcloud. (Float32 or Float64 type).
target	Target pointcloud. (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.

TransformationEstimationType open3d::t::pipelines::registration::TransformationEstimationPointToPoint::GetTransformationEstimationType ( ) const

inlineoverridevirtual

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