open3d.pipelines.registration.TransformationEstimationSymmetric#
- class open3d.pipelines.registration.TransformationEstimationSymmetric#
Class to estimate a source-to-target transformation with symmetric point-to-plane ICP. Both point clouds must have normals.
- __init__(*args, **kwargs)#
Overloaded function.
__init__(self: open3d.pybind.pipelines.registration.TransformationEstimationSymmetric) -> None
Default constructor
__init__(self: open3d.pybind.pipelines.registration.TransformationEstimationSymmetric, arg0: open3d.pybind.pipelines.registration.TransformationEstimationSymmetric) -> None
Copy constructor
__init__(self: open3d.pybind.pipelines.registration.TransformationEstimationSymmetric, kernel: open3d.pybind.pipelines.registration.RobustKernel) -> None
- compute_rmse(self: open3d.pybind.pipelines.registration.TransformationEstimation, source: open3d.pybind.geometry.PointCloud, target: open3d.pybind.geometry.PointCloud, corres: open3d.pybind.utility.Vector2iVector) float#
Compute RMSE between source and target points cloud given correspondences.
- Parameters:
source (open3d.pybind.geometry.PointCloud) – Source point cloud.
target (open3d.pybind.geometry.PointCloud) – Target point cloud.
corres (open3d.pybind.utility.Vector2iVector) – Correspondence set between source and target point cloud.
- Returns:
float
- compute_transformation(self: open3d.pybind.pipelines.registration.TransformationEstimation, source: open3d.pybind.geometry.PointCloud, target: open3d.pybind.geometry.PointCloud, corres: open3d.pybind.utility.Vector2iVector) Annotated[numpy.typing.NDArray[numpy.float64], '[4, 4]']#
Compute transformation from source to target point cloud given correspondences.
- Parameters:
source (open3d.pybind.geometry.PointCloud) – Source point cloud.
target (open3d.pybind.geometry.PointCloud) – Target point cloud.
corres (open3d.pybind.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