open3d.pipelines.registration.TransformationEstimation#

class open3d.pipelines.registration.TransformationEstimation#

Base class that estimates a transformation between two point clouds. The virtual function ComputeTransformation() must be implemented in subclasses.

__init__(*args, **kwargs)#
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]]