open3d::pipelines::registration::TransformationEstimationForGeneralizedICP Class Reference

#include <GeneralizedICP.h>

Inheritance diagram for open3d::pipelines::registration::TransformationEstimationForGeneralizedICP:

Public Member Functions
	~TransformationEstimationForGeneralizedICP () override=default
TransformationEstimationType	GetTransformationEstimationType () const override
	TransformationEstimationForGeneralizedICP (double epsilon=1e-3, std::shared_ptr< RobustKernel > kernel=std::make_shared< L2Loss >())
	Constructor that takes as input a RobustKernel.
double	ComputeRMSE (const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres) const override
Eigen::Matrix4d	ComputeTransformation (const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres) const override
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 override
Public Member Functions inherited from open3d::pipelines::registration::TransformationEstimation
	TransformationEstimation ()
	Default Constructor.
virtual	~TransformationEstimation ()

Data Fields
double	epsilon_ = 1e-3
	Small constant representing covariance along the normal.
std::shared_ptr< RobustKernel >	kernel_ = std::make_shared<L2Loss>()
	shared_ptr to an Abstract RobustKernel that could mutate at runtime.

Constructor & Destructor Documentation

~TransformationEstimationForGeneralizedICP()

open3d::pipelines::registration::TransformationEstimationForGeneralizedICP::~TransformationEstimationForGeneralizedICP ( )

overridedefault

TransformationEstimationForGeneralizedICP()

open3d::pipelines::registration::TransformationEstimationForGeneralizedICP::TransformationEstimationForGeneralizedICP ( double epsilon = 1e-3, std::shared_ptr< RobustKernel > kernel = std::make_shared<L2Loss>() )

inlineexplicit

Constructor that takes as input a RobustKernel.

Parameters

kernel

Any of the implemented statistical robust kernel for outlier rejection.

Member Function Documentation

ComputeRMSE()

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

overridevirtual

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.

Implements open3d::pipelines::registration::TransformationEstimation.

ComputeTransformation()

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

overridevirtual

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.

Implements open3d::pipelines::registration::TransformationEstimation.

GetTransformationEstimationType()

TransformationEstimationType open3d::pipelines::registration::TransformationEstimationForGeneralizedICP::GetTransformationEstimationType ( ) const

inlineoverridevirtual

Implements open3d::pipelines::registration::TransformationEstimation.

InitializePointCloudsForTransformation()

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

overridevirtual

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.

Implements open3d::pipelines::registration::TransformationEstimation.

Field Documentation

epsilon_

double open3d::pipelines::registration::TransformationEstimationForGeneralizedICP::epsilon_ = 1e-3

Small constant representing covariance along the normal.

kernel_

std::shared_ptr<RobustKernel> open3d::pipelines::registration::TransformationEstimationForGeneralizedICP::kernel_ = std::make_shared<L2Loss>()

shared_ptr to an Abstract RobustKernel that could mutate at runtime.

---

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

• cpp/open3d/pipelines/registration/GeneralizedICP.h
• cpp/open3d/pipelines/registration/GeneralizedICP.cpp