open3d::pipelines::registration::TransformationEstimation Class Reference

#include <TransformationEstimation.h>

Inheritance diagram for open3d::pipelines::registration::TransformationEstimation:

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 CorrespondenceSet &corres) const =0
virtual Eigen::Matrix4d	ComputeTransformation (const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres) const =0
virtual std::tuple< std::shared_ptr< const geometry::PointCloud >, std::shared_ptr< const geometry::PointCloud > >	InitializePointCloudsForTransformation (const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance) const =0

Detailed Description

Base class that estimates a transformation between two point clouds The virtual function ComputeTransformation() must be implemented in subclasses.

Constructor & Destructor Documentation

TransformationEstimation()

open3d::pipelines::registration::TransformationEstimation::TransformationEstimation ( )

inline

Default Constructor.

~TransformationEstimation()

virtual open3d::pipelines::registration::TransformationEstimation::~TransformationEstimation ( )

inlinevirtual

Member Function Documentation

ComputeRMSE()

virtual double open3d::pipelines::registration::TransformationEstimation::ComputeRMSE ( const geometry::PointCloud &  source, const geometry::PointCloud &  target, const CorrespondenceSet &  corres  ) const

pure virtual

Compute RMSE between source and target points cloud given correspondences.

Parameters

source	Source point cloud.
target	Target point cloud.
corres	Correspondence set between source and target point cloud.

Implemented in open3d::pipelines::registration::TransformationEstimationPointToPlane, open3d::pipelines::registration::TransformationEstimationPointToPoint, open3d::pipelines::registration::TransformationEstimationForGeneralizedICP, and open3d::pipelines::registration::TransformationEstimationForColoredICP.

ComputeTransformation()

virtual Eigen::Matrix4d open3d::pipelines::registration::TransformationEstimation::ComputeTransformation ( const geometry::PointCloud &  source, const geometry::PointCloud &  target, const CorrespondenceSet &  corres  ) const

pure virtual

Compute transformation from source to target point cloud given correspondences.

Parameters

source	Source point cloud.
target	Target point cloud.
corres	Correspondence set between source and target point cloud.

Implemented in open3d::pipelines::registration::TransformationEstimationPointToPlane, open3d::pipelines::registration::TransformationEstimationPointToPoint, open3d::pipelines::registration::TransformationEstimationForGeneralizedICP, and open3d::pipelines::registration::TransformationEstimationForColoredICP.

GetTransformationEstimationType()

virtual TransformationEstimationType open3d::pipelines::registration::TransformationEstimation::GetTransformationEstimationType ( ) const

pure virtual

Implemented in open3d::pipelines::registration::TransformationEstimationPointToPlane, open3d::pipelines::registration::TransformationEstimationPointToPoint, open3d::pipelines::registration::TransformationEstimationForGeneralizedICP, and open3d::pipelines::registration::TransformationEstimationForColoredICP.

InitializePointCloudsForTransformation()

virtual std::tuple<std::shared_ptr<const geometry::PointCloud>, std::shared_ptr<const geometry::PointCloud> > open3d::pipelines::registration::TransformationEstimation::InitializePointCloudsForTransformation ( const geometry::PointCloud &  source, const geometry::PointCloud &  target, double  max_correspondence_distance  ) const

pure virtual

Initialize the source and target point cloud for the transformation estimation.

Parameters

source	Source point cloud.
target	Target point cloud.
max_correspondence_distance	Maximum correspondence distance.

Implemented in open3d::pipelines::registration::TransformationEstimationPointToPlane, open3d::pipelines::registration::TransformationEstimationPointToPoint, open3d::pipelines::registration::TransformationEstimationForGeneralizedICP, and open3d::pipelines::registration::TransformationEstimationForColoredICP.

---

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

• /home/runner/work/Open3D/Open3D/cpp/open3d/pipelines/registration/TransformationEstimation.h (1e7b174 (Tue Jan 7 15:20:18 2025 -0800))