open3d.t.pipelines.registration.TransformationEstimationPointToPlane
- class open3d.t.pipelines.registration.TransformationEstimationPointToPlane
Class to estimate a transformation for point to plane distance.
- __init__(*args, **kwargs)
Overloaded function.
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationPointToPlane) -> None
Default constructor
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationPointToPlane, arg0: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationPointToPlane) -> None
Copy constructor
__init__(self: open3d.cpu.pybind.t.pipelines.registration.TransformationEstimationPointToPlane, kernel: open3d::t::pipelines::registration::RobustKernel) -> None
- 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
- property kernel
Robust Kernel used in the Optimization