Open3D (C++ API)  0.16.1
Registration.h
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26
27#pragma once
28
29#include "open3d/core/Tensor.h"
32
33namespace open3d {
34namespace t {
35namespace pipelines {
36namespace kernel {
37
52core::Tensor ComputePosePointToPlane(const core::Tensor &source_positions,
53 const core::Tensor &target_positions,
54 const core::Tensor &target_normals,
55 const core::Tensor &correspondence_indices,
56 const registration::RobustKernel &kernel);
57
80core::Tensor ComputePoseColoredICP(const core::Tensor &source_positions,
81 const core::Tensor &source_colors,
82 const core::Tensor &target_positions,
83 const core::Tensor &target_normals,
84 const core::Tensor &target_colors,
85 const core::Tensor &target_color_gradients,
86 const core::Tensor &correspondence_indices,
87 const registration::RobustKernel &kernel,
88 const double &lambda_geometric);
89
101std::tuple<core::Tensor, core::Tensor> ComputeRtPointToPoint(
102 const core::Tensor &source_positions,
103 const core::Tensor &target_positions,
104 const core::Tensor &correspondence_indices);
105
116core::Tensor ComputeInformationMatrix(
117 const core::Tensor &target_positions,
118 const core::Tensor &correspondence_indices);
119
120} // namespace kernel
121} // namespace pipelines
122} // namespace t
123} // namespace open3d
core::Tensor ComputeInformationMatrix(const core::Tensor &target_points, const core::Tensor &correspondence_indices)
Computes Information Matrix of shape {6, 6}, of dtype Float64 on device CPU:0, from the target point ...
Definition: Registration.cpp:188
core::Tensor ComputePoseColoredICP(const core::Tensor &source_points, const core::Tensor &source_colors, const core::Tensor &target_points, const core::Tensor &target_normals, const core::Tensor &target_colors, const core::Tensor &target_color_gradients, const core::Tensor &correspondence_indices, const registration::RobustKernel &kernel, const double &lambda_geometric)
Computes pose for colored-icp registration method.
Definition: Registration.cpp:71
core::Tensor ComputePosePointToPlane(const core::Tensor &source_points, const core::Tensor &target_points, const core::Tensor &target_normals, const core::Tensor &correspondence_indices, const registration::RobustKernel &kernel)
Computes pose for point to plane registration method.
Definition: Registration.cpp:37
std::tuple< core::Tensor, core::Tensor > ComputeRtPointToPoint(const core::Tensor &source_points, const core::Tensor &target_points, const core::Tensor &correspondence_indices)
Computes (R) Rotation {3,3} and (t) translation {3,} for point to point registration method.
Definition: Registration.cpp:114
Definition: PinholeCameraIntrinsic.cpp:35