cloudViewer::pipelines::registration::RegistrationResult Class Reference

#include <Registration.h>

Public Member Functions
	RegistrationResult (const Eigen::Matrix4d &transformation=Eigen::Matrix4d::Identity())
	Parameterized Constructor. More...
	~RegistrationResult ()
bool	IsBetterRANSACThan (const RegistrationResult &other) const

Public Attributes
Eigen::Matrix4d_u	transformation_
	The estimated transformation matrix. More...
CorrespondenceSet	correspondence_set_
	Correspondence set between source and target point cloud. More...
double	inlier_rmse_
	RMSE of all inlier correspondences. Lower is better. More...
double	fitness_

Detailed Description

Class that contains the registration results.

Definition at line 100 of file Registration.h.

Constructor & Destructor Documentation

RegistrationResult()

cloudViewer::pipelines::registration::RegistrationResult::RegistrationResult ( const Eigen::Matrix4d &  transformation = Eigen::Matrix4d::Identity() )

inline

Parameterized Constructor.

Parameters

transformation

The estimated transformation matrix.

Definition at line 105 of file Registration.h.

~RegistrationResult()

cloudViewer::pipelines::registration::RegistrationResult::~RegistrationResult ( )

inline

Definition at line 108 of file Registration.h.

Member Function Documentation

IsBetterRANSACThan()

bool cloudViewer::pipelines::registration::RegistrationResult::IsBetterRANSACThan ( const RegistrationResult &  other ) const

inline

Definition at line 109 of file Registration.h.

References fitness_, and inlier_rmse_.

Referenced by cloudViewer::pipelines::registration::RegistrationRANSACBasedOnCorrespondence().

Member Data Documentation

correspondence_set_

CorrespondenceSet cloudViewer::pipelines::registration::RegistrationResult::correspondence_set_

Correspondence set between source and target point cloud.

Definition at line 118 of file Registration.h.

Referenced by cloudViewer::pipelines::registration::pybind_registration_classes().

fitness_

double cloudViewer::pipelines::registration::RegistrationResult::fitness_

For ICP: the overlapping area (# of inlier correspondences / # of points in target). Higher is better. For RANSAC: inlier ratio (# of inlier correspondences / # of all correspondences)

Definition at line 125 of file Registration.h.

Referenced by cloudViewer::pipelines::registration::BenchmarkICPLegacy(), IsBetterRANSACThan(), cloudViewer::pipelines::registration::pybind_registration_classes(), cloudViewer::pipelines::registration::RegistrationICP(), and cloudViewer::pipelines::registration::RegistrationRANSACBasedOnCorrespondence().

inlier_rmse_

double cloudViewer::pipelines::registration::RegistrationResult::inlier_rmse_

RMSE of all inlier correspondences. Lower is better.

Definition at line 120 of file Registration.h.

Referenced by cloudViewer::pipelines::registration::BenchmarkICPLegacy(), IsBetterRANSACThan(), cloudViewer::pipelines::registration::pybind_registration_classes(), cloudViewer::pipelines::registration::RegistrationICP(), and cloudViewer::pipelines::registration::RegistrationRANSACBasedOnCorrespondence().

transformation_

Eigen::Matrix4d_u cloudViewer::pipelines::registration::RegistrationResult::transformation_

The estimated transformation matrix.

Definition at line 116 of file Registration.h.

Referenced by cloudViewer::pipelines::registration::pybind_registration_classes().

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

• /root/ACloudViewer/libs/cloudViewer/pipelines/registration/Registration.h