open3d.pipelines.registration.CorrespondenceCheckerBasedOnNormal

class open3d.pipelines.registration.CorrespondenceCheckerBasedOnNormal

Class to check if two aligned point clouds have similar normals. It considers vertex normal affinity of any correspondences. It computes dot product of two normal vectors. It takes radian value for the threshold.

Check(self, source, target, corres, transformation)

Function to check if two points can be aligned. The two input point clouds must have exact the same number of points.

Parameters

  • source (open3d.cpu.pybind.geometry.PointCloud) – Source point cloud.

  • target (open3d.cpu.pybind.geometry.PointCloud) – Target point cloud.

  • corres (open3d.cpu.pybind.utility.Vector2iVector) – Correspondence set between source and target point cloud.

  • transformation (numpy.ndarray[float64[4, 4]]) – The estimated transformation (inplace).

Returns

bool

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: open3d.cpu.pybind.pipelines.registration.CorrespondenceCheckerBasedOnNormal, arg0: open3d.cpu.pybind.pipelines.registration.CorrespondenceCheckerBasedOnNormal) -> None

Copy constructor

  1. __init__(self: open3d.cpu.pybind.pipelines.registration.CorrespondenceCheckerBasedOnNormal, normal_angle_threshold: float) -> None

property normal_angle_threshold

Radian value for angle threshold.

property require_pointcloud_alignment_

Some checkers do not require point clouds to be aligned, e.g., the edge length checker. Some checkers do, e.g., the distance checker.