open3d.t.pipelines.registration.TransformationEstimationForColoredICP#
- class open3d.t.pipelines.registration.TransformationEstimationForColoredICP#
Class to estimate a transformation between two point clouds using color information
- __init__(*args, **kwargs)#
Overloaded function.
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationForColoredICP) -> None
Default constructor
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationForColoredICP, arg0: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationForColoredICP) -> None
Copy constructor
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationForColoredICP, lambda_geometric: float, kernel: open3d.cpu.pybind.t.pipelines.registration.robust_kernel.RobustKernel) -> None
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationForColoredICP, lambda_geometric: float) -> None
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationForColoredICP, kernel: open3d.cpu.pybind.t.pipelines.registration.robust_kernel.RobustKernel) -> None
- compute_rmse(self: open3d.t.pipelines.registration.TransformationEstimation, source: open3d.t.geometry.PointCloud, target: open3d.t.geometry.PointCloud, correspondences: open3d.core.Tensor) float #
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: open3d.t.pipelines.registration.TransformationEstimation, source: open3d.t.geometry.PointCloud, target: open3d.t.geometry.PointCloud, correspondences: open3d.core.Tensor, current_transform: open3d.core.Tensor = [[1 0 0 0], [0 1 0 0], [0 0 1 0], [0 0 0 1]] Tensor[shape={4, 4}, stride={4, 1}, Float64, , iteration: int = 0) open3d.core.Tensor #
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.
current_transform (open3d.core.Tensor, optional, default=[[1 0 0 0], [0 1 0 0], [0 0 1 0], [0 0 0 1]] Tensor[shape={4, 4}, stride={4, 1}, Float64) – The current pose estimate of ICP. ()
iteration (int, optional, default=0) – The current iteration number of the ICP algorithm.
- Returns:
open3d.core.Tensor
- property kernel#
Robust Kernel used in the Optimization
- property lambda_geometric#