open3d.pipelines.registration.TransformationEstimationForGeneralizedICP#

class open3d.pipelines.registration.TransformationEstimationForGeneralizedICP#

Class to estimate a transformation for Generalized ICP.

__init__(*args, **kwargs)#

Overloaded function.

  1. __init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForGeneralizedICP) -> None

Default constructor

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

Copy constructor

  1. __init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForGeneralizedICP, epsilon: float, kernel: open3d::pipelines::registration::RobustKernel) -> None

  2. __init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForGeneralizedICP, epsilon: float) -> None

  3. __init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationForGeneralizedICP, kernel: open3d::pipelines::registration::RobustKernel) -> None

compute_rmse(self, source, target, corres)#

Compute RMSE between source and target points cloud given correspondences.

Parameters:
Returns:

float

compute_transformation(self, source, target, corres)#

Compute transformation from source to target point cloud given correspondences.

Parameters:
Returns:

numpy.ndarray[numpy.float64[4, 4]]

property epsilon#
property kernel#

Robust Kernel used in the Optimization