open3d.pipelines.registration.TransformationEstimationPointToPlane

class open3d.pipelines.registration.TransformationEstimationPointToPlane

Class to estimate a transformation for point to plane distance.

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: open3d.pipelines.registration.TransformationEstimationPointToPlane) -> None

Default constructor

2. __init__(self: open3d.pipelines.registration.TransformationEstimationPointToPlane, arg0: open3d.pipelines.registration.TransformationEstimationPointToPlane) -> None

Copy constructor

3. __init__(self: open3d.pipelines.registration.TransformationEstimationPointToPlane, kernel: open3d.pipelines.registration.RobustKernel) -> None

compute_rmse(self: open3d.pipelines.registration.TransformationEstimation, source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, corres: open3d.utility.Vector2iVector) → float

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: open3d.pipelines.registration.TransformationEstimation, source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, corres: open3d.utility.Vector2iVector) → Annotated[numpy.typing.NDArray[numpy.float64], '[4, 4]']

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:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[4, 4]”]

property kernel

Robust Kernel used in the Optimization