# open3d.t.pipelines.registration.TransformationEstimation¶

class open3d.t.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)

Initialize self. See help(type(self)) for accurate signature.

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)

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.

Returns

open3d.core.Tensor