cloudViewer.pipelines.registration.TransformationEstimationForGeneralizedICP

class cloudViewer.pipelines.registration.TransformationEstimationForGeneralizedICP

Class to estimate a transformation for Generalized ICP.

__init__(*args, **kwargs)

Overloaded function.

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

Default constructor

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

Copy constructor

3. __init__(self: cloudViewer.pipelines.registration.TransformationEstimationForGeneralizedICP, epsilon: typing.SupportsFloat, kernel: cloudViewer::pipelines::registration::RobustKernel) -> None

4. __init__(self: cloudViewer.pipelines.registration.TransformationEstimationForGeneralizedICP, epsilon: typing.SupportsFloat) -> None

5. __init__(self: cloudViewer.pipelines.registration.TransformationEstimationForGeneralizedICP, 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]”]

property epsilon

property kernel

Robust Kernel used in the Optimization