Open3D (C++ API)
0.18.0
|
#include <TransformationEstimation.h>
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 ¤t_transform=core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")), const std::size_t iteration=0) const =0 |
Base class that estimates a transformation between two point clouds The virtual function ComputeTransformation() must be implemented in subclasses.
|
inline |
Default Constructor.
|
inlinevirtual |
|
pure virtual |
Compute RMSE between source and target points cloud given correspondences.
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. |
Implemented in open3d::t::pipelines::registration::TransformationEstimationForDopplerICP, open3d::t::pipelines::registration::TransformationEstimationForColoredICP, open3d::t::pipelines::registration::TransformationEstimationPointToPlane, and open3d::t::pipelines::registration::TransformationEstimationPointToPoint.
|
pure virtual |
Compute transformation from source to target point cloud given correspondences.
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. |
Implemented in open3d::t::pipelines::registration::TransformationEstimationForDopplerICP, open3d::t::pipelines::registration::TransformationEstimationForColoredICP, open3d::t::pipelines::registration::TransformationEstimationPointToPlane, and open3d::t::pipelines::registration::TransformationEstimationPointToPoint.
|
pure virtual |
Implemented in open3d::t::pipelines::registration::TransformationEstimationForDopplerICP, open3d::t::pipelines::registration::TransformationEstimationForColoredICP, open3d::t::pipelines::registration::TransformationEstimationPointToPlane, and open3d::t::pipelines::registration::TransformationEstimationPointToPoint.