open3d.t.pipelines.registration.TransformationEstimation
- class open3d.t.pipelines.registration.TransformationEstimation
Base class that estimates a transformation between two point clouds. The virtual function ComputeTransformation() must be implemented in subclasses.
- __init__(*args, **kwargs)
- 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