Open3D (C++ API)
0.15.1
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#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_ |
Class that contains the registration results.
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inline |
Parameterized Constructor.
transformation | The estimated transformation matrix of dtype Float64 on CPU device. Default: Identity tensor. |
save_loss_log | When True , it saves the iteration-wise values of fitness , inlier_rmse , transformation , scale , iteration in a TensorMap loss_log_ in RegsitrationResult . Default: False. |
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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.
double open3d::t::pipelines::registration::RegistrationResult::fitness_ |
For ICP: the overlapping area (# of inlier correspondences / # of points in target). Higher is better.
double open3d::t::pipelines::registration::RegistrationResult::inlier_rmse_ |
RMSE of all inlier correspondences. Lower is better.
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.
bool open3d::t::pipelines::registration::RegistrationResult::save_loss_log_ |
To store iteration-wise information in loss_log_
, mark this as True
.
core::Tensor open3d::t::pipelines::registration::RegistrationResult::transformation_ |
The estimated transformation matrix of dtype Float64 on CPU device.