open3d::t::pipelines::registration::TransformationEstimationForDopplerICP Class Reference

#include <TransformationEstimation.h>

Inheritance diagram for open3d::t::pipelines::registration::TransformationEstimationForDopplerICP:

Public Member Functions
	~TransformationEstimationForDopplerICP () override
	TransformationEstimationForDopplerICP (const double period=0.1, const double lambda_doppler=0.01, const bool reject_dynamic_outliers=false, const double doppler_outlier_threshold=2.0, const std::size_t outlier_rejection_min_iteration=2, const std::size_t geometric_robust_loss_min_iteration=0, const std::size_t doppler_robust_loss_min_iteration=2, const RobustKernel &geometric_kernel=RobustKernel(RobustKernelMethod::L2Loss, 1.0, 1.0), const RobustKernel &doppler_kernel=RobustKernel(RobustKernelMethod::L2Loss, 1.0, 1.0), const core::Tensor &transform_vehicle_to_sensor=core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")))
	Constructor.
TransformationEstimationType	GetTransformationEstimationType () const override
double	ComputeRMSE (const geometry::PointCloud &source, const geometry::PointCloud &target, const core::Tensor &correspondences) const override
	Computes RMSE (double) for DopplerICP method, between two pointclouds, given correspondences.
core::Tensor	ComputeTransformation (const geometry::PointCloud &source, const geometry::PointCloud &target, const core::Tensor &correspondences, const core::Tensor &current_transform=core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")), const std::size_t iteration=0) const override
	Estimates the transformation matrix for DopplerICP method, a tensor of shape {4, 4}, and dtype Float64 on CPU device.
Public Member Functions inherited from open3d::t::pipelines::registration::TransformationEstimation
	TransformationEstimation ()
	Default Constructor.
virtual	~TransformationEstimation ()

Data Fields
double	period_ {0.1}
	Time period (in seconds) between the source and the target point clouds.
double	lambda_doppler_ {0.01}
	Factor that weighs the Doppler residual term in DICP objective.
bool	reject_dynamic_outliers_ {false}
	Whether or not to prune dynamic point outlier correspondences.
double	doppler_outlier_threshold_ {2.0}
std::size_t	outlier_rejection_min_iteration_ {2}
	Number of iterations of ICP after which outlier rejection is enabled.
std::size_t	geometric_robust_loss_min_iteration_ {0}
	Number of iterations of ICP after which robust loss kicks in.
std::size_t	doppler_robust_loss_min_iteration_ {2}
RobustKernel	geometric_kernel_
	RobustKernel for outlier rejection.
RobustKernel	doppler_kernel_
core::Tensor	transform_vehicle_to_sensor_

Detailed Description

This is the implementation of the following paper: B. Hexsel, H. Vhavle, Y. Chen, DICP: Doppler Iterative Closest Point Algorithm, RSS 2022.

Class to estimate a transformation matrix tensor of shape {4, 4}, dtype Float64, on CPU device for DopplerICP method.

Constructor & Destructor Documentation

~TransformationEstimationForDopplerICP()

open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::~TransformationEstimationForDopplerICP ( )

inlineoverride

TransformationEstimationForDopplerICP()

open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::TransformationEstimationForDopplerICP ( const double period = 0.1, const double lambda_doppler = 0.01, const bool reject_dynamic_outliers = false, const double doppler_outlier_threshold = 2.0, const std::size_t outlier_rejection_min_iteration = 2, const std::size_t geometric_robust_loss_min_iteration = 0, const std::size_t doppler_robust_loss_min_iteration = 2, const RobustKernel & geometric_kernel = RobustKernel(RobustKernelMethod::L2Loss, 1.0, 1.0), const RobustKernel & doppler_kernel = RobustKernel(RobustKernelMethod::L2Loss, 1.0, 1.0), const core::Tensor & transform_vehicle_to_sensor = core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")) )

inlineexplicit

Constructor.

Parameters

period	Time period (in seconds) between the source and the target point clouds. Default value: 0.1.
lambda_doppler	λ ∈ [0, 1] in the overall energy (1−λ)EG + λED. Refer the documentation of DopplerICP for more information.
reject_dynamic_outliers	Whether or not to reject dynamic point outlier correspondences.
doppler_outlier_threshold	Correspondences with Doppler error greater than this threshold are rejected from optimization.
outlier_rejection_min_iteration	Number of iterations of ICP after which outlier rejection is enabled.
geometric_robust_loss_min_iteration	Number of iterations of ICP after which robust loss for geometric term kicks in.
doppler_robust_loss_min_iteration	Number of iterations of ICP after which robust loss for Doppler term kicks in.
geometric_kernel	(optional) Any of the implemented statistical robust kernel for outlier rejection for the geometric term.
doppler_kernel	(optional) Any of the implemented statistical robust kernel for outlier rejection for the Doppler term.
transform_vehicle_to_sensor	The 4x4 extrinsic transformation matrix between the vehicle and the sensor frames. Defaults to identity transform.

Member Function Documentation

ComputeRMSE()

double open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::ComputeRMSE ( const geometry::PointCloud & source, const geometry::PointCloud & target, const core::Tensor & correspondences ) const

overridevirtual

Computes RMSE (double) for DopplerICP method, between two pointclouds, given correspondences.

Parameters

source	Source pointcloud. (Float32 or Float64 type).
target	Target pointcloud. (Float32 or Float64 type). It must contain normals, directions, and Doppler of the same shape and dtype as the positions.
correspondences	Tensor of type Int64 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.

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

ComputeTransformation()

core::Tensor open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::ComputeTransformation ( const geometry::PointCloud & source, const geometry::PointCloud & target, const core::Tensor & correspondences, const core::Tensor & current_transform = core::Tensor::Eye(4, core::Float64, core::Device("CPU:0")), const std::size_t iteration = 0 ) const

overridevirtual

Estimates the transformation matrix for DopplerICP method, a tensor of shape {4, 4}, and dtype Float64 on CPU device.

Parameters

source	Source pointcloud. (Float32 or Float64 type).
target	Target pointcloud. (Float32 or Float64 type). It must contain normals, directions, and Doppler of the same shape and dtype as the positions.
correspondences	Tensor of type Int64 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.
current_transform	The current pose estimate of ICP.
iteration	The current iteration number of the ICP algorithm.

Returns

transformation between source to target, a tensor of shape {4, 4}, type Float64 on CPU device.

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

GetTransformationEstimationType()

TransformationEstimationType open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::GetTransformationEstimationType ( ) const

inlineoverridevirtual

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

Field Documentation

doppler_kernel_

RobustKernel open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::doppler_kernel_

Initial value:

=
            RobustKernel(RobustKernelMethod::L2Loss, 1.0, 1.0)

doppler_outlier_threshold_

double open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::doppler_outlier_threshold_ {2.0}

Correspondences with Doppler error greater than this threshold are rejected from optimization.

doppler_robust_loss_min_iteration_

std::size_t open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::doppler_robust_loss_min_iteration_ {2}

geometric_kernel_

RobustKernel open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::geometric_kernel_

Initial value:

=
            RobustKernel(RobustKernelMethod::L2Loss, 1.0, 1.0)

RobustKernel for outlier rejection.

geometric_robust_loss_min_iteration_

std::size_t open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::geometric_robust_loss_min_iteration_ {0}

Number of iterations of ICP after which robust loss kicks in.

lambda_doppler_

double open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::lambda_doppler_ {0.01}

Factor that weighs the Doppler residual term in DICP objective.

outlier_rejection_min_iteration_

std::size_t open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::outlier_rejection_min_iteration_ {2}

Number of iterations of ICP after which outlier rejection is enabled.

period_

double open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::period_ {0.1}

Time period (in seconds) between the source and the target point clouds.

reject_dynamic_outliers_

bool open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::reject_dynamic_outliers_ {false}

Whether or not to prune dynamic point outlier correspondences.

transform_vehicle_to_sensor_

core::Tensor open3d::t::pipelines::registration::TransformationEstimationForDopplerICP::transform_vehicle_to_sensor_

Initial value:

=
            core::Tensor::Eye(4, core::Float64, core::Device("CPU:0"))

The 4x4 extrinsic transformation matrix between the vehicle and the sensor frames.

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

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