open3d.t.pipelines.registration.TransformationEstimationForDopplerICP#
- class open3d.t.pipelines.registration.TransformationEstimationForDopplerICP#
Class to estimate a transformation between two point clouds using color information
- __init__(*args, **kwargs)#
Overloaded function.
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationForDopplerICP) -> None
Default constructor
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationForDopplerICP, arg0: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationForDopplerICP) -> None
Copy constructor
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationForDopplerICP, period: float, lambda_doppler: float, reject_dynamic_outliers: bool, doppler_outlier_threshold: float, outlier_rejection_min_iteration: int, geometric_robust_loss_min_iteration: int, doppler_robust_loss_min_iteration: int, goemetric_kernel: open3d::t::pipelines::registration::RobustKernel, doppler_kernel: open3d::t::pipelines::registration::RobustKernel, transform_vehicle_to_sensor: open3d.cpu.pybind.core.Tensor) -> None
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationForDopplerICP, lambda_doppler: float) -> None
- compute_rmse(self, source, target, correspondences)#
Compute RMSE between source and target points cloud given correspondences.
- Parameters:
source (open3d.t.geometry.PointCloud) – Source point cloud.
target (open3d.t.geometry.PointCloud) – Target point cloud.
correspondences (open3d.core.Tensor) – Tensor of type Int64 containing indices of corresponding target points, where the value is the target index and the index of the value itself is the source index. It contains -1 as value at index with no correspondence.
- Returns:
float
- compute_transformation(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationForDopplerICP, arg0: open3d::t::geometry::PointCloud, arg1: open3d::t::geometry::PointCloud, arg2: open3d.cpu.pybind.core.Tensor, arg3: open3d.cpu.pybind.core.Tensor, arg4: int) open3d.cpu.pybind.core.Tensor #
Compute transformation from source to target point cloud given correspondences
- property doppler_kernel#
Robust Kernel used in the Doppler Error Optimization
- property doppler_outlier_threshold#
Correspondences with Doppler error greater than this threshold are rejected from optimization.
- property doppler_robust_loss_min_iteration#
Minimum iterations after which Robust Kernel is used for the Doppler error
- property geometric_kernel#
Robust Kernel used in the Geometric Error Optimization
- property geometric_robust_loss_min_iteration#
Minimum iterations after which Robust Kernel is used for the Geometric error
- property lambda_doppler#
λ ∈ [0, 1] in the overall energy (1−λ)EG + λED. Refer the documentation of DopplerICP for more information.
- property outlier_rejection_min_iteration#
Number of iterations of ICP after which outlier rejection is enabled.
- property period#
Time period (in seconds) between the source and the target point clouds.
- property reject_dynamic_outliers#
Whether or not to reject dynamic point outlier correspondences.
- property transform_vehicle_to_sensor#
The 4x4 extrinsic transformation matrix between the vehicle and the sensor frames.