open3d.pipelines.registration.TransformationEstimationPointToPoint#
- class open3d.pipelines.registration.TransformationEstimationPointToPoint#
Class to estimate a transformation for point to point distance.
- __init__(*args, **kwargs)#
Overloaded function.
__init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationPointToPoint, arg0: open3d.cpu.pybind.pipelines.registration.TransformationEstimationPointToPoint) -> None
Copy constructor
__init__(self: open3d.cpu.pybind.pipelines.registration.TransformationEstimationPointToPoint, with_scaling: bool = False) -> 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 with_scaling#
Set to
True
to estimate scaling,False
to force scaling to be1
.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
isFalse
.