Open3D (C++ API)
0.18.0
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#include <TransformationEstimation.h>
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 |
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... | |
Estimate a transformation for point to point distance.
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inline |
Parameterized Constructor.
with_scaling | Set to True to estimate scaling, False to force scaling to be 1. |
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inlineoverride |
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overridevirtual |
Compute RMSE between source and target points cloud given correspondences.
source | Source point cloud. |
target | Target point cloud. |
corres | Correspondence set between source and target point cloud. |
Implements open3d::pipelines::registration::TransformationEstimation.
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overridevirtual |
Compute transformation from source to target point cloud given correspondences.
source | Source point cloud. |
target | Target point cloud. |
corres | Correspondence set between source and target point cloud. |
Implements open3d::pipelines::registration::TransformationEstimation.
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inlineoverridevirtual |
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.