open3d.pipelines.registration.TransformationEstimationForColoredICP#
- class open3d.pipelines.registration.TransformationEstimationForColoredICP#
Class to estimate a transformation between two point clouds using color information
- __init__(*args, **kwargs)#
Overloaded function.
__init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForColoredICP) -> None
Default constructor
__init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForColoredICP, arg0: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForColoredICP) -> None
Copy constructor
__init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForColoredICP, lambda_geometric: float, kernel: open3d::pipelines::registration::RobustKernel) -> None
__init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForColoredICP, lambda_geometric: float) -> None
__init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForColoredICP, kernel: open3d::pipelines::registration::RobustKernel) -> None
- 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]]
- property kernel#
Robust Kernel used in the Optimization
- property lambda_geometric#