open3d.registration.TransformationEstimationPointToPoint

class open3d.registration.TransformationEstimationPointToPoint

Class to estimate a transformation for point to point distance.

__init__(*args, **kwargs)

Overloaded function.

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

Copy constructor

2. __init__(self: open3d.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[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.