Open3D (C++ API)  0.18.0+252c867
Public Member Functions | Data Fields
open3d::t::pipelines::registration::RegistrationResult Class Reference

#include <Registration.h>

Public Member Functions

 RegistrationResult (const core::Tensor &transformation=core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")))
 Parameterized Constructor. More...
 
 ~RegistrationResult ()
 
bool IsBetterThan (const RegistrationResult &other) const
 

Data Fields

core::Tensor transformation_
 The estimated transformation matrix of dtype Float64 on CPU device. More...
 
core::Tensor correspondences_
 
double inlier_rmse_
 RMSE of all inlier correspondences. Lower is better. More...
 
double fitness_
 
bool converged_ {false}
 Specifies whether the algorithm converged or not. More...
 
size_t num_iterations_ {0}
 Number of iterations the algorithm took to converge. More...
 

Detailed Description

Class that contains the registration results.

Constructor & Destructor Documentation

◆ RegistrationResult()

open3d::t::pipelines::registration::RegistrationResult::RegistrationResult ( const core::Tensor transformation = core::Tensor::Eye(                               4, core::Float64core::Device("CPU:0")))
inline

Parameterized Constructor.

Parameters
transformationThe estimated transformation matrix of dtype Float64 on CPU device. Default: Identity tensor.

◆ ~RegistrationResult()

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

Member Function Documentation

◆ IsBetterThan()

bool open3d::t::pipelines::registration::RegistrationResult::IsBetterThan ( const RegistrationResult other) const
inline

Field Documentation

◆ converged_

bool open3d::t::pipelines::registration::RegistrationResult::converged_ {false}

Specifies whether the algorithm converged or not.

◆ correspondences_

core::Tensor open3d::t::pipelines::registration::RegistrationResult::correspondences_

Tensor 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.

◆ fitness_

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

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

◆ inlier_rmse_

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

RMSE of all inlier correspondences. Lower is better.

◆ num_iterations_

size_t open3d::t::pipelines::registration::RegistrationResult::num_iterations_ {0}

Number of iterations the algorithm took to converge.

◆ transformation_

core::Tensor open3d::t::pipelines::registration::RegistrationResult::transformation_

The estimated transformation matrix of dtype Float64 on CPU device.


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