open3d.t.pipelines.registration.TransformationEstimationPointToPoint#
- class open3d.t.pipelines.registration.TransformationEstimationPointToPoint#
Class to estimate a transformation for point to point distance.
- __init__(*args, **kwargs)#
Overloaded function.
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationPointToPoint, arg0: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationPointToPoint) -> None
Copy constructor
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationPointToPoint) -> 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, source, target, correspondences, current_transform=(with default value), iteration=0)#
Compute transformation from source to target point 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.
current_transform (open3d.core.Tensor, optional) –
The current pose estimate of ICP. Default value:
[[1 0 0 0], [0 1 0 0], [0 0 1 0], [0 0 0 1]] Tensor[shape={4, 4}, stride={4, 1}, Float64
()
iteration (int, optional, default=0) – The current iteration number of the ICP algorithm.
- Returns:
open3d.core.Tensor