open3d.registration.TransformationEstimationPointToPoint

class open3d.registration.TransformationEstimationPointToPoint

Class to estimate a transformation for point to point distance.

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: open3d.registration.TransformationEstimationPointToPoint, arg0: open3d.registration.TransformationEstimationPointToPoint) -> None

Copy constructor

  1. __init__(self: open3d.registration.TransformationEstimationPointToPoint, with_scaling: bool = False) -> None

compute_rmse(self: open3d.registration.TransformationEstimation, source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, corres: open3d.utility.Vector2iVector) → float

Compute RMSE between source and target points cloud given correspondences.

compute_transformation(self: open3d.registration.TransformationEstimation, source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, corres: open3d.utility.Vector2iVector) → numpy.ndarray[float64[4, 4]]

Compute transformation from source to target point cloud given correspondences.

property with_scaling

Set to True to estimate scaling, False to force scaling to be 1.

The homogeneous transformation is given by

\(T = \begin{bmatrix} c\mathbf{R} & \mathbf{t} \\ \mathbf{0} & 1 \end{bmatrix}\)

Sets \(c = 1\) if with_scaling is False.