cloudViewer.pipelines.registration.TransformationEstimation

class cloudViewer.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, corres)

Compute RMSE between source and target points cloud given correspondences.

Parameters:

• source (cloudViewer.geometry.ccPointCloud) – Source point cloud.

• target (cloudViewer.geometry.ccPointCloud) – Target point cloud.

• corres (cloudViewer.utility.Vector2iVector) – Correspondence set between source and target point cloud.

Returns:

float

compute_transformation(self, source, target, corres)

Compute transformation from source to target point cloud given correspondences.

Parameters:

• source (cloudViewer.geometry.ccPointCloud) – Source point cloud.

• target (cloudViewer.geometry.ccPointCloud) – Target point cloud.

• corres (cloudViewer.utility.Vector2iVector) – Correspondence set between source and target point cloud.

Returns:

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