open3d.t.pipelines.registration.TransformationEstimationPointToPoint

class open3d.t.pipelines.registration.TransformationEstimationPointToPoint

Class to estimate a transformation for point to point distance.

__init__(*args, **kwargs)

Overloaded function.

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

Copy constructor

  1. __init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationPointToPoint) -> 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