open3d.pipelines.registration.CorrespondenceCheckerBasedOnSourceRotation#

class open3d.pipelines.registration.CorrespondenceCheckerBasedOnSourceRotation#

Class to limit the rotation of the source object. It checks if the transformation is rotated too much from its initial, unrotated state (identity matrix). Rotations are checked by comparing the components of the angle-axis representation (SO(3) log vector) of the estimated transformation to the given thresholds. It is assumed that the user is aware of the x, y, z axes of the source object when setting these tolerances.

Check(self: open3d.pipelines.registration.CorrespondenceChecker, source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, corres: open3d.utility.Vector2iVector, transformation: typing.Annotated[numpy.typing.ArrayLike, numpy.float64) → bool#

Function to check if two points can be aligned. The two input point clouds must have exact the same number of points.

Parameters:
Returns:

bool

__init__(*args, **kwargs)#

Overloaded function.

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

Copy constructor

  1. __init__(self: open3d.pipelines.registration.CorrespondenceCheckerBasedOnSourceRotation, rotation_threshold: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”]) -> None

property require_pointcloud_alignment_#

Some checkers do not require point clouds to be aligned, e.g., the edge length checker. Some checkers do, e.g., the distance checker.

property rotation_threshold#

Float64 numpy array of shape (3,) representing the maximum allowed thresholds [rx, ry, rz] in radians for the angle-axis representation components. It is assumed the user is aware of the x, y, z axes of the source object. A value < 0 means unconstrained.