Open3D (C++ API)
0.18.0
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#include <TransformationEstimation.h>
Public Member Functions | |
~TransformationEstimationForColoredICP () override | |
TransformationEstimationForColoredICP (double lambda_geometric=0.968, const RobustKernel &kernel=RobustKernel(RobustKernelMethod::L2Loss, 1.0, 1.0)) | |
Constructor. More... | |
TransformationEstimationType | GetTransformationEstimationType () const override |
double | ComputeRMSE (const geometry::PointCloud &source, const geometry::PointCloud &target, const core::Tensor &correspondences) const override |
Computes RMSE (double) for ColoredICP 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 ¤t_transform=core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")), const std::size_t iteration=0) const override |
Estimates the transformation matrix for ColoredICP 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 () |
Data Fields | |
double | lambda_geometric_ = 0.968 |
RobustKernel | kernel_ = RobustKernel(RobustKernelMethod::L2Loss, 1.0, 1.0) |
RobustKernel for outlier rejection. More... | |
This is implementation of following paper J. Park, Q.-Y. Zhou, V. Koltun, Colored Point Cloud Registration Revisited, ICCV 2017.
Class to estimate a transformation matrix tensor of shape {4, 4}, dtype Float64, on CPU device for colored-icp method.
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inlineoverride |
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inlineexplicit |
Constructor.
lamda_geometric | λ ∈ [0,1] in the overall energy λEG + (1−λ)EC . Refer the documentation of Colored-ICP for more information. |
kernel | (optional) Any of the implemented statistical robust kernel for outlier rejection. |
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overridevirtual |
Computes RMSE (double) for ColoredICP method, between two pointclouds, given correspondences.
source | Source pointcloud. (Float32 or Float64 type). |
target | Target pointcloud. (Float32 or Float64 type). It must contain normals, colors and color_gradients of the same shape and dtype as the positions. |
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. |
Implements open3d::t::pipelines::registration::TransformationEstimation.
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overridevirtual |
Estimates the transformation matrix for ColoredICP method, a tensor of shape {4, 4}, and dtype Float64 on CPU device.
source | Source pointcloud. (Float32 or Float64 type). |
target | Target pointcloud. (Float32 or Float64 type). It must contain normals, colors and color_gradients of the same shape and dtype as the positions. |
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. |
Implements open3d::t::pipelines::registration::TransformationEstimation.
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inlineoverridevirtual |
RobustKernel open3d::t::pipelines::registration::TransformationEstimationForColoredICP::kernel_ = RobustKernel(RobustKernelMethod::L2Loss, 1.0, 1.0) |
RobustKernel for outlier rejection.
double open3d::t::pipelines::registration::TransformationEstimationForColoredICP::lambda_geometric_ = 0.968 |