cloudViewer.pipelines.registration.TransformationEstimationForColoredICP#

class cloudViewer.pipelines.registration.TransformationEstimationForColoredICP#

Class to estimate a transformation between two point clouds using color information

__init__(*args, **kwargs)#

Overloaded function.

__init__(self: cloudViewer.pipelines.registration.TransformationEstimationForColoredICP) -> None

Default constructor

__init__(self: cloudViewer.pipelines.registration.TransformationEstimationForColoredICP, arg0: cloudViewer.pipelines.registration.TransformationEstimationForColoredICP) -> None

Copy constructor

__init__(self: cloudViewer.pipelines.registration.TransformationEstimationForColoredICP, lambda_geometric: typing.SupportsFloat, kernel: cloudViewer::pipelines::registration::RobustKernel) -> None
__init__(self: cloudViewer.pipelines.registration.TransformationEstimationForColoredICP, lambda_geometric: typing.SupportsFloat) -> None
__init__(self: cloudViewer.pipelines.registration.TransformationEstimationForColoredICP, kernel: cloudViewer::pipelines::registration::RobustKernel) -> None

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]”]