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::Float64, core::Device("CPU:0")), bool  save_loss_log = false  )

inline

Parameterized Constructor.

Parameters

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.

~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.

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

• cpp/open3d/t/pipelines/registration/Registration.h