open3d::pipelines::registration::TransformationEstimationPointToPoint Class Reference

#include <TransformationEstimation.h>

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

Public Member Functions
	TransformationEstimationPointToPoint (bool with_scaling=false)
	Parameterized Constructor. More...
	~TransformationEstimationPointToPoint () override
TransformationEstimationType	GetTransformationEstimationType () const override
double	ComputeRMSE (const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres) const override
Eigen::Matrix4d	ComputeTransformation (const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres) const override
std::tuple< std::shared_ptr< const geometry::PointCloud >, std::shared_ptr< const geometry::PointCloud > >	InitializePointCloudsForTransformation (const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance) const override
Public Member Functions inherited from open3d::pipelines::registration::TransformationEstimation
	TransformationEstimation ()
	Default Constructor. More...
virtual	~TransformationEstimation ()

Data Fields
bool	with_scaling_ = false
	Set to True to estimate scaling, False to force scaling to be 1. More...

Detailed Description

Estimate a transformation for point to point distance.

Constructor & Destructor Documentation

TransformationEstimationPointToPoint()

open3d::pipelines::registration::TransformationEstimationPointToPoint::TransformationEstimationPointToPoint ( bool  with_scaling = false )

inline

Parameterized Constructor.

Parameters

with_scaling

Set to True to estimate scaling, False to force scaling to be 1.

~TransformationEstimationPointToPoint()

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

inlineoverride

Member Function Documentation

ComputeRMSE()

double open3d::pipelines::registration::TransformationEstimationPointToPoint::ComputeRMSE ( const geometry::PointCloud &  source, const geometry::PointCloud &  target, const CorrespondenceSet &  corres  ) const

overridevirtual

Compute RMSE between source and target points cloud given correspondences.

Parameters

source	Source point cloud.
target	Target point cloud.
corres	Correspondence set between source and target point cloud.

Implements open3d::pipelines::registration::TransformationEstimation.

ComputeTransformation()

Eigen::Matrix4d open3d::pipelines::registration::TransformationEstimationPointToPoint::ComputeTransformation ( const geometry::PointCloud &  source, const geometry::PointCloud &  target, const CorrespondenceSet &  corres  ) const

overridevirtual

Compute transformation from source to target point cloud given correspondences.

Parameters

source	Source point cloud.
target	Target point cloud.
corres	Correspondence set between source and target point cloud.

Implements open3d::pipelines::registration::TransformationEstimation.

GetTransformationEstimationType()

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

inlineoverridevirtual

Implements open3d::pipelines::registration::TransformationEstimation.

InitializePointCloudsForTransformation()

std::tuple< std::shared_ptr< const geometry::PointCloud >, std::shared_ptr< const geometry::PointCloud > > open3d::pipelines::registration::TransformationEstimationPointToPoint::InitializePointCloudsForTransformation ( const geometry::PointCloud &  source, const geometry::PointCloud &  target, double  max_correspondence_distance  ) const

overridevirtual

Initialize the source and target point cloud for the transformation estimation.

Parameters

source	Source point cloud.
target	Target point cloud.
max_correspondence_distance	Maximum correspondence distance.

Implements open3d::pipelines::registration::TransformationEstimation.

Field Documentation

with_scaling_

bool open3d::pipelines::registration::TransformationEstimationPointToPoint::with_scaling_ = false

Set to True to estimate scaling, False to force scaling to be 1.

The homogeneous transformation is given by
T = [ cR t]
[0 1]
Sets 𝑐=1 if with_scaling is False.

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

• /root/Open3D/cpp/open3d/pipelines/registration/TransformationEstimation.h
• /root/Open3D/cpp/open3d/pipelines/registration/TransformationEstimation.cpp