open3d.pipelines.registration.TransformationEstimation#
- class open3d.pipelines.registration.TransformationEstimation#
Base class that estimates a transformation between two point clouds. The virtual function ComputeTransformation() must be implemented in subclasses.
- __init__(*args, **kwargs)#
- 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]]