open3d.t.pipelines.registration.TransformationEstimationPointToPlane¶

class open3d.t.pipelines.registration.TransformationEstimationPointToPlane¶

Class to estimate a transformation for point to plane distance.

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationPointToPlane) -> None

Default constructor

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

Copy constructor

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

compute_rmse(self, source, target, correspondences)¶

Compute RMSE between source and target points cloud given correspondences.

Parameters

source (open3d.t.geometry.PointCloud) – Source point cloud.
target (open3d.t.geometry.PointCloud) – Target point cloud.
correspondences (open3d.core.Tensor) – 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.

Returns

float

compute_transformation(self, source, target, correspondences)¶

Compute transformation from source to target point cloud given correspondences.

Parameters

source (open3d.t.geometry.PointCloud) – Source point cloud.
target (open3d.t.geometry.PointCloud) – Target point cloud.
correspondences (open3d.core.Tensor) – 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.

Returns

open3d.core.Tensor