open3d.pipelines.registration.TransformationEstimationForGeneralizedICP

class open3d.pipelines.registration.TransformationEstimationForGeneralizedICP

Class to estimate a transformation for Generalized ICP.

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForGeneralizedICP) -> None

Default constructor

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

Copy constructor

3. __init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForGeneralizedICP, epsilon: float, kernel: open3d::pipelines::registration::RobustKernel) -> None

4. __init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForGeneralizedICP, epsilon: float) -> None

5. __init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForGeneralizedICP, kernel: open3d::pipelines::registration::RobustKernel) -> None

compute_rmse(self, source, target, corres)

Compute RMSE between source and target points cloud given correspondences.

Parameters

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

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

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

Returns

float

compute_transformation(self, source, target, corres)

Compute transformation from source to target point cloud given correspondences.

Parameters

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

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

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

Returns

numpy.ndarray[numpy.float64[4, 4]]

property epsilon

property kernel

Robust Kernel used in the Optimization