44 namespace registration {
63 double relative_rmse = 1e-6,
64 int max_iteration = 30)
95 bool save_loss_log =
false)
140 double max_correspondence_distance,
164 const double max_correspondence_distance,
170 const double voxel_size = -1.0,
171 const bool save_loss_log =
false);
200 const std::vector<double> &voxel_sizes,
201 const std::vector<ICPConvergenceCriteria> &criteria_list,
202 const std::vector<double> &max_correspondence_distances,
207 const bool save_loss_log =
false);
221 const double max_correspondence_distance,
static Tensor Eye(int64_t n, Dtype dtype, const Device &device)
Create an identity matrix of size n x n.
Definition: Tensor.cpp:392
A point cloud contains a list of 3D points.
Definition: PointCloud.h:95
Definition: TensorMap.h:49
Class that defines the convergence criteria of ICP.
Definition: Registration.h:50
double relative_rmse_
Definition: Registration.h:76
double relative_fitness_
Definition: Registration.h:73
ICPConvergenceCriteria(double relative_fitness=1e-6, double relative_rmse=1e-6, int max_iteration=30)
Parameterized Constructor. ICP algorithm stops if the relative change of fitness and rmse hit relativ...
Definition: Registration.h:62
~ICPConvergenceCriteria()
Definition: Registration.h:68
int max_iteration_
Maximum iteration before iteration stops.
Definition: Registration.h:78
Definition: Registration.h:84
core::Tensor correspondences_
Definition: Registration.h:115
RegistrationResult(const core::Tensor &transformation=core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")), bool save_loss_log=false)
Parameterized Constructor.
Definition: Registration.h:93
~RegistrationResult()
Definition: Registration.h:102
bool IsBetterRANSACThan(const RegistrationResult &other) const
Definition: Registration.h:104
double fitness_
Definition: Registration.h:120
core::Tensor transformation_
The estimated transformation matrix of dtype Float64 on CPU device.
Definition: Registration.h:111
t::geometry::TensorMap loss_log_
Definition: Registration.h:126
double inlier_rmse_
RMSE of all inlier correspondences. Lower is better.
Definition: Registration.h:117
bool save_loss_log_
To store iteration-wise information in loss_log_, mark this as True.
Definition: Registration.h:122
const Dtype Float64
Definition: Dtype.cpp:62
RegistrationResult MultiScaleICP(const geometry::PointCloud &source, const geometry::PointCloud &target, const std::vector< double > &voxel_sizes, const std::vector< ICPConvergenceCriteria > &criterias, const std::vector< double > &max_correspondence_distances, const core::Tensor &init_source_to_target, const TransformationEstimation &estimation, const bool save_loss_log)
Functions for Multi-Scale ICP registration. It will run ICP on different voxel level,...
Definition: Registration.cpp:362
core::Tensor GetInformationMatrix(const geometry::PointCloud &source, const geometry::PointCloud &target, const double max_correspondence_distance, const core::Tensor &transformation)
Computes Information Matrix, from the transfromation between source and target pointcloud....
Definition: Registration.cpp:440
RegistrationResult EvaluateRegistration(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const core::Tensor &transformation)
Function for evaluating registration between point clouds.
Definition: Registration.cpp:82
RegistrationResult ICP(const geometry::PointCloud &source, const geometry::PointCloud &target, const double max_correspondence_distance, const core::Tensor &init_source_to_target, const TransformationEstimation &estimation, const ICPConvergenceCriteria &criteria, const double voxel_size, const bool save_loss_log)
Functions for ICP registration.
Definition: Registration.cpp:114
Definition: PinholeCameraIntrinsic.cpp:35