Registration.cpp File Reference

(b9e049c (Sun Dec 31 11:36:26 2023 -0800))

#include "open3d/t/pipelines/kernel/Registration.h"
#include "open3d/core/Dispatch.h"
#include "open3d/core/TensorCheck.h"
#include "open3d/t/pipelines/kernel/RegistrationImpl.h"

Namespaces
	open3d
	open3d::t
	open3d::t::pipelines
	open3d::t::pipelines::kernel

Functions
core::Tensor	open3d::t::pipelines::kernel::ComputePosePointToPlane (const core::Tensor &source_positions, const core::Tensor &target_positions, const core::Tensor &target_normals, const core::Tensor &correspondence_indices, const registration::RobustKernel &kernel)
	Computes pose for point to plane registration method. More...
core::Tensor	open3d::t::pipelines::kernel::ComputePoseColoredICP (const core::Tensor &source_positions, const core::Tensor &source_colors, const core::Tensor &target_positions, const core::Tensor &target_normals, const core::Tensor &target_colors, const core::Tensor &target_color_gradients, const core::Tensor &correspondence_indices, const registration::RobustKernel &kernel, const double &lambda_geometric)
	Computes pose for colored-icp registration method. More...
core::Tensor	open3d::t::pipelines::kernel::ComputePoseDopplerICP (const core::Tensor &source_points, const core::Tensor &source_dopplers, const core::Tensor &source_directions, const core::Tensor &target_points, const core::Tensor &target_normals, const core::Tensor &correspondence_indices, const core::Tensor &current_transform, const core::Tensor &transform_vehicle_to_sensor, const std::size_t iteration, const double period, const double lambda_doppler, const bool reject_dynamic_outliers, const double doppler_outlier_threshold, const std::size_t outlier_rejection_min_iteration, const std::size_t geometric_robust_loss_min_iteration, const std::size_t doppler_robust_loss_min_iteration, const registration::RobustKernel &geometric_kernel, const registration::RobustKernel &doppler_kernel)
	Computes pose for DopplerICP registration method. More...
std::tuple< core::Tensor, core::Tensor >	open3d::t::pipelines::kernel::ComputeRtPointToPoint (const core::Tensor &source_positions, const core::Tensor &target_positions, const core::Tensor &correspondence_indices)
	Computes (R) Rotation {3,3} and (t) translation {3,} for point to point registration method. More...
core::Tensor	open3d::t::pipelines::kernel::ComputeInformationMatrix (const core::Tensor &target_positions, const core::Tensor &correspondence_indices)
	Computes Information Matrix of shape {6, 6}, of dtype Float64 on device CPU:0, from the target point cloud and correspondence indices w.r.t. target point cloud. Only target positions and correspondence indices are required. More...