open3d::pipelines::registration::RegistrationResult Class Reference

#include <Registration.h>

Public Member Functions
	RegistrationResult (const Eigen::Matrix4d &transformation=Eigen::Matrix4d::Identity())
	Parameterized Constructor. More...
	~RegistrationResult ()
bool	IsBetterRANSACThan (const RegistrationResult &other) const

Data Fields
Eigen::Matrix4d_u	transformation_
	The estimated transformation matrix. More...
CorrespondenceSet	correspondence_set_
	Correspondence set between source and target point cloud. More...
double	inlier_rmse_
	RMSE of all inlier correspondences. Lower is better. More...
double	fitness_

Detailed Description

Class that contains the registration results.

Constructor & Destructor Documentation

RegistrationResult()

open3d::pipelines::registration::RegistrationResult::RegistrationResult ( const Eigen::Matrix4d &  transformation = Eigen::Matrix4d::Identity() )

inline

Parameterized Constructor.

Parameters

transformation

The estimated transformation matrix.

~RegistrationResult()

open3d::pipelines::registration::RegistrationResult::~RegistrationResult ( )

inline

Member Function Documentation

IsBetterRANSACThan()

bool open3d::pipelines::registration::RegistrationResult::IsBetterRANSACThan ( const RegistrationResult &  other ) const

inline

Field Documentation

correspondence_set_

CorrespondenceSet open3d::pipelines::registration::RegistrationResult::correspondence_set_

Correspondence set between source and target point cloud.

fitness_

double open3d::pipelines::registration::RegistrationResult::fitness_

For ICP: the overlapping area (# of inlier correspondences / # of points in target). Higher is better. For RANSAC: inlier ratio (# of inlier correspondences / # of all correspondences)

inlier_rmse_

double open3d::pipelines::registration::RegistrationResult::inlier_rmse_

RMSE of all inlier correspondences. Lower is better.

transformation_

Eigen::Matrix4d_u open3d::pipelines::registration::RegistrationResult::transformation_

The estimated transformation matrix.

---

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

• /home/runner/work/Open3D/Open3D/cpp/open3d/pipelines/registration/Registration.h (313315d (Wed Dec 23 23:39:47 2020 -0800))