Rename to SymmetricMethod

neka-nat · Dec 8, 2023 · f85a6a3 · f85a6a3
1 parent b84ea3a
commit f85a6a3
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Showing 3 changed files with 17 additions and 17 deletions.
diff --git a/src/cupoch/registration/transformation_estimation.cu b/src/cupoch/registration/transformation_estimation.cu
@@ -218,7 +218,7 @@ Eigen::Matrix4f TransformationEstimationPointToPlane::ComputeTransformation(
     return is_success ? extrinsic : Eigen::Matrix4f::Identity();
 }
 
-float TransformationEstimationPlaneToPlane::ComputeRMSE(
+float TransformationEstimationSymmetricMethod::ComputeRMSE(
         const geometry::PointCloud &source,
         const geometry::PointCloud &target,
         const CorrespondenceSet &corres) const {
@@ -283,7 +283,7 @@ float TransformationEstimationPlaneToPlane::ComputeRMSE(
     return std::sqrt(err / (float)corres.size());
 }
 
-Eigen::Matrix4f TransformationEstimationPlaneToPlane::ComputeTransformation(
+Eigen::Matrix4f TransformationEstimationSymmetricMethod::ComputeTransformation(
         const geometry::PointCloud &source,
         const geometry::PointCloud &target,
         const CorrespondenceSet &corres) const {

diff --git a/src/cupoch/registration/transformation_estimation.h b/src/cupoch/registration/transformation_estimation.h
@@ -39,7 +39,7 @@ enum class TransformationEstimationType {
     Unspecified = 0,
     PointToPoint = 1,
     PointToPlane = 2,
-    PlaneToPlane = 3,
+    SymmetricMethod = 3,
     ColoredICP = 4,
 };
 
@@ -115,11 +115,11 @@ class TransformationEstimationPointToPlane : public TransformationEstimation {
 };
 
 /// Estimate a transformation for plane to plane distance
-class TransformationEstimationPlaneToPlane : public TransformationEstimation {
+class TransformationEstimationSymmetricMethod : public TransformationEstimation {
 public:
-    TransformationEstimationPlaneToPlane(float det_thresh = 1.0e-6)
+    TransformationEstimationSymmetricMethod(float det_thresh = 1.0e-6)
         : det_thresh_(det_thresh) {}
-    ~TransformationEstimationPlaneToPlane() override {}
+    ~TransformationEstimationSymmetricMethod() override {}
 
 public:
     TransformationEstimationType GetTransformationEstimationType()
@@ -138,7 +138,7 @@ class TransformationEstimationPlaneToPlane : public TransformationEstimation {
 
 private:
     const TransformationEstimationType type_ =
-            TransformationEstimationType::PlaneToPlane;
+            TransformationEstimationType::SymmetricMethod;
 };
 
 }  // namespace registration

diff --git a/src/python/cupoch_pybind/registration/registration.cpp b/src/python/cupoch_pybind/registration/registration.cpp
@@ -120,7 +120,7 @@ void pybind_registration_classes(py::module &m) {
     py::enum_<registration::TransformationEstimationType> tf_type(m, "TransformationEstimationType");
     tf_type.value("PointToPoint", registration::TransformationEstimationType::PointToPoint)
             .value("PointToPlane", registration::TransformationEstimationType::PointToPlane)
-            .value("PlaneToPlane", registration::TransformationEstimationType::PlaneToPlane)
+            .value("SymmetricMethod", registration::TransformationEstimationType::SymmetricMethod)
             .value("ColoredICP", registration::TransformationEstimationType::ColoredICP)
             .export_values();
 
@@ -165,23 +165,23 @@ void pybind_registration_classes(py::module &m) {
                 return std::string("TransformationEstimationPointToPlane");
             });
 
-    // cupoch.registration.TransformationEstimationPlaneToPlane:
+    // cupoch.registration.TransformationEstimationSymmetricMethod:
     // TransformationEstimation
-    py::class_<registration::TransformationEstimationPlaneToPlane,
+    py::class_<registration::TransformationEstimationSymmetricMethod,
                PyTransformationEstimation<
-                       registration::TransformationEstimationPlaneToPlane>,
+                       registration::TransformationEstimationSymmetricMethod>,
                registration::TransformationEstimation>
-            te_l2l(m, "TransformationEstimationPlaneToPlane",
+            te_l2l(m, "TransformationEstimationSymmetricMethod",
                    "Class to estimate a transformation for plane to plane "
                    "distance.");
     py::detail::bind_default_constructor<
-            registration::TransformationEstimationPlaneToPlane>(te_l2l);
+            registration::TransformationEstimationSymmetricMethod>(te_l2l);
     py::detail::bind_copy_functions<
-            registration::TransformationEstimationPlaneToPlane>(te_l2l);
+            registration::TransformationEstimationSymmetricMethod>(te_l2l);
     te_l2l.def(
             "__repr__",
-            [](const registration::TransformationEstimationPlaneToPlane &te) {
-                return std::string("TransformationEstimationPlaneToPlane");
+            [](const registration::TransformationEstimationSymmetricMethod &te) {
+                return std::string("TransformationEstimationSymmetricMethod");
             });
 
     // cupoch.registration.FastGlobalRegistrationOption:
@@ -373,7 +373,7 @@ static const std::unordered_map<std::string, std::string>
                  "Estimation method. One of "
                  "(``registration::TransformationEstimationPointToPoint``,"
                  "``registration::TransformationEstimationPointToPlane``,"
-                 "``registration::TransformationEstimationPlaneToPlane``)"},
+                 "``registration::TransformationEstimationSymmetricMethod``)"},
                 {"init", "Initial transformation estimation"},
                 {"lambda_geometric", "lambda_geometric value"},
                 {"max_correspondence_distance",