open3d.pipelines.registration.TransformationEstimationPointToPoint#

class open3d.pipelines.registration.TransformationEstimationPointToPoint#

Class to estimate a transformation for point to point distance.

__init__(*args, **kwargs)#

Overloaded function.

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

Copy constructor

  1. __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:
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 with_scaling#

Set to True to estimate scaling, False to force scaling to be 1.

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 is False.