Open3D (C++ API)  0.15.1
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")), bool save_loss_log=false)
 Parameterized Constructor. More...
 
 ~RegistrationResult ()
 
bool IsBetterRANSACThan (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 save_loss_log_
 To store iteration-wise information in loss_log_, mark this as True. More...
 
t::geometry::TensorMap loss_log_
 

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")),
bool  save_loss_log = false 
)
inline

Parameterized Constructor.

Parameters
transformationThe estimated transformation matrix of dtype Float64 on CPU device. Default: Identity tensor.
save_loss_logWhen True, it saves the iteration-wise values of fitness, inlier_rmse, transformation, scale, iteration in a TensorMap loss_log_ in RegsitrationResult. Default: False.

◆ ~RegistrationResult()

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

Member Function Documentation

◆ IsBetterRANSACThan()

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

Field Documentation

◆ 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.

◆ loss_log_

t::geometry::TensorMap open3d::t::pipelines::registration::RegistrationResult::loss_log_

TensorMap containing iteration-wise information. The TensorMap contains index (primary-key), scale, iteration, inlier_rmse, fitness, transformation, on CPU device.

◆ save_loss_log_

bool open3d::t::pipelines::registration::RegistrationResult::save_loss_log_

To store iteration-wise information in loss_log_, mark this as True.

◆ 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: