open3d.registration.TransformationEstimation¶
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class
open3d.registration.
TransformationEstimation
¶ Base class that estimates a transformation between two point clouds. The virtual function ComputeTransformation() must be implemented in subclasses.
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__init__
()¶ Initialize self. See help(type(self)) for accurate signature.
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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
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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[float64[4, 4]]
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