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

#include <Registration.h>

Collaboration diagram for cloudViewer::t::pipelines::registration::RegistrationResult:

Public Member Functions
	RegistrationResult (const core::Tensor &transformation=core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")))
	Parameterized Constructor. More...
	~RegistrationResult ()
bool	IsBetterThan (const RegistrationResult &other) const

Public Attributes
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	converged_ {false}
	Specifies whether the algorithm converged or not. More...
size_t	num_iterations_ {0}
	Number of iterations the algorithm took to converge. More...

Detailed Description

Class that contains the registration results.

Definition at line 65 of file Registration.h.

Constructor & Destructor Documentation

RegistrationResult()

cloudViewer::t::pipelines::registration::RegistrationResult::RegistrationResult ( const core::Tensor &  transformation = core::Tensor::Eye(                               4, core::Float64, core::Device("CPU:0")) )

inline

Parameterized Constructor.

Parameters

transformation

The estimated transformation matrix of dtype Float64 on CPU device. Default: Identity tensor.

Definition at line 71 of file Registration.h.

~RegistrationResult()

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

inline

Definition at line 75 of file Registration.h.

Member Function Documentation

IsBetterThan()

bool cloudViewer::t::pipelines::registration::RegistrationResult::IsBetterThan ( const RegistrationResult &  other ) const

inline

Definition at line 77 of file Registration.h.

References fitness_, and inlier_rmse_.

Member Data Documentation

converged_

bool cloudViewer::t::pipelines::registration::RegistrationResult::converged_ {false}

Specifies whether the algorithm converged or not.

Definition at line 95 of file Registration.h.

Referenced by cloudViewer::t::pipelines::registration::pybind_registration_class().

correspondences_

core::Tensor cloudViewer::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.

Definition at line 88 of file Registration.h.

Referenced by cloudViewer::t::pipelines::registration::pybind_registration_class().

fitness_

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

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

Definition at line 93 of file Registration.h.

Referenced by cloudViewer::t::pipelines::registration::DoSingleScaleICPIterations(), IsBetterThan(), and cloudViewer::t::pipelines::registration::pybind_registration_class().

inlier_rmse_

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

RMSE of all inlier correspondences. Lower is better.

Definition at line 90 of file Registration.h.

Referenced by cloudViewer::t::pipelines::registration::DoSingleScaleICPIterations(), IsBetterThan(), and cloudViewer::t::pipelines::registration::pybind_registration_class().

num_iterations_

size_t cloudViewer::t::pipelines::registration::RegistrationResult::num_iterations_ {0}

Number of iterations the algorithm took to converge.

Definition at line 97 of file Registration.h.

Referenced by cloudViewer::t::pipelines::registration::pybind_registration_class().

transformation_

core::Tensor cloudViewer::t::pipelines::registration::RegistrationResult::transformation_

The estimated transformation matrix of dtype Float64 on CPU device.

Definition at line 84 of file Registration.h.

Referenced by cloudViewer::t::pipelines::registration::DoSingleScaleICPIterations(), and cloudViewer::t::pipelines::registration::pybind_registration_class().

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

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