Fitness definition in Documentation is wrong
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Assessment
- Difficulty
- 1/5
- Estimated time
- 1-3 hours
- Newbie friendliness
- 78/100
- Issue type
- Documentation
- Clarity
- Clearly specified
- Activity status
- Quiet
- Tech stack
- cpp
- Domain
- documentation
Research direction
Start with the Basic ICP registration documentation and the C++ RegistrationResult API documentation linked in the issue, then compare their fitness definitions with cpp/open3d/pipelines/registration/Registration.cpp at the cited line. Update the incorrect denominator wording to match the source and verify that the documentation consistently describes fitness; leave the already-correct pipelines tutorial unchanged.
Written by the indexing model from the issue text.
Description
In https://www.open3d.org/docs/latest/tutorial/Basic/icp_registration.html
and https://www.open3d.org/docs/latest/cpp_api/classopen3d_1_1t_1_1pipelines_1_1registration_1_1_registration_result.html#a612ec06fe937ffbc94b0907365f58431
it says:
fitness, which measures the overlapping area (# of inlier correspondences / # of points in target). The higher the better.
or
For ICP: the overlapping area (# of inlier correspondences / # of points in target). Higher is better.
But that is not true. In the source code it is written as:
https://github.com/isl-org/Open3D/blob/0333798fcff5a2fe95470e69291eca6a9efbae6c/cpp/open3d/pipelines/registration/Registration.cpp#L65
The Documentation should be updated that the source is used and not the target, because it can lead to confusion in the interpretation of the fitness value as in our case.
Edit:
Just to mention it, here it is correct: https://www.open3d.org/docs/latest/tutorial/pipelines/icp_registration.html
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