本文整理汇总了Python中open3d.TransformationEstimationPointToPoint方法的典型用法代码示例。如果您正苦于以下问题：Python open3d.TransformationEstimationPointToPoint方法的具体用法？Python open3d.TransformationEstimationPointToPoint怎么用？Python open3d.TransformationEstimationPointToPoint使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类open3d的用法示例。
在下文中一共展示了open3d.TransformationEstimationPointToPoint方法的9个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: icp_o3_gicp_fast
# 需要导入模块: import open3d [as 别名]
# 或者: from open3d import TransformationEstimationPointToPoint [as 别名]
def icp_o3_gicp_fast(file_idx, cfg, refine=None, refine_radius=0.05, precomputed_results=None):
pc1, pc2, pc1_centroid = load_pountclouds(file_idx, cfg)
voxel_size = 0.05
distance_threshold = voxel_size * 0.5
start = time.time()
if precomputed_results is None:
source_down, target_down, source_fpfh, target_fpfh = ICP._icp_global_prepare_dataset(pc1, pc2, voxel_size)
reg_res = o3.registration_fast_based_on_feature_matching(source_down, target_down, source_fpfh, target_fpfh, o3.FastGlobalRegistrationOption(with_constraint=cfg.evaluation.special.icp.with_constraint, maximum_correspondence_distance=distance_threshold))
transformation = reg_res.transformation
else:
precomp_pred_translation, precomp_pred_angle, precomp_pred_center = precomputed_results
transformation = get_mat_angle(precomp_pred_translation, precomp_pred_angle, precomp_pred_center)
if refine is None:
time_elapsed = time.time() - start
return transformation, pc1_centroid, time_elapsed
else:
if refine == 'p2p':
reg_p2p = o3.registration_icp(pc1, pc2, refine_radius, transformation, o3.TransformationEstimationPointToPoint(with_constraint=cfg.evaluation.special.icp.with_constraint, with_scaling=False))
time_elapsed = time.time() - start
return reg_p2p.transformation, pc1_centroid, time_elapsed
else:
assert False 示例2: open3d_icp
# 需要导入模块: import open3d [as 别名]
# 或者: from open3d import TransformationEstimationPointToPoint [as 别名]
def open3d_icp(src, trgt, init_rotation=np.eye(3, 3)):
source = open3d.PointCloud()
source.points = open3d.Vector3dVector(src)
target = open3d.PointCloud()
target.points = open3d.Vector3dVector(trgt)
init_rotation_4x4 = np.eye(4, 4)
init_rotation_4x4[0:3, 0:3] = init_rotation
threshold = 0.2
reg_p2p = open3d.registration_icp(source, target, threshold, init_rotation_4x4,
open3d.TransformationEstimationPointToPoint())
return reg_p2p 示例3: _do_icp_p2p
# 需要导入模块: import open3d [as 别名]
# 或者: from open3d import TransformationEstimationPointToPoint [as 别名]
def _do_icp_p2p(self, pc1, pc2, radius, init, constrain):
return o3.registration_icp(pc1, pc2, radius, init, o3.TransformationEstimationPointToPoint(with_constraint=constrain, with_scaling=False)) 示例4: _do_icp_global
# 需要导入模块: import open3d [as 别名]
# 或者: from open3d import TransformationEstimationPointToPoint [as 别名]
def _do_icp_global(self, pc1, pc2, constrain):
voxel_size = 0.05
source_down, target_down, source_fpfh, target_fpfh = ICP._icp_global_prepare_dataset(pc1, pc2, voxel_size)
distance_threshold = voxel_size * 1.5
result = o3.registration_ransac_based_on_feature_matching(source_down, target_down, source_fpfh, target_fpfh, distance_threshold, o3.TransformationEstimationPointToPoint(with_constraint=constrain, with_scaling=False), 4, [o3.CorrespondenceCheckerBasedOnEdgeLength(0.9), o3.CorrespondenceCheckerBasedOnDistance(distance_threshold)], o3.RANSACConvergenceCriteria(4000000, 500))
return result 示例5: icp_p2point
# 需要导入模块: import open3d [as 别名]
# 或者: from open3d import TransformationEstimationPointToPoint [as 别名]
def icp_p2point(file_idx, cfg, radius=0.2, its=30, init=None, with_constraint=None):
with_constraint = with_constraint if with_constraint is not None else cfg.evaluation.special.icp.with_constraint
pc1, pc2, pc1_centroid = load_pountclouds(file_idx, cfg)
if init is None:
# init = get_median_init(pc1, pc2)
init = get_centroid_init(pc1, pc2)
start = time.time()
reg_p2p = o3.registration_icp(pc1, pc2, radius, init, o3.TransformationEstimationPointToPoint(with_constraint=with_constraint, with_scaling=False), o3.registration.ICPConvergenceCriteria(max_iteration=its)) # Default: 30
time_elapsed = time.time() - start
return reg_p2p.transformation, pc1_centroid, time_elapsed 示例6: icp_o3_gicp
# 需要导入模块: import open3d [as 别名]
# 或者: from open3d import TransformationEstimationPointToPoint [as 别名]
def icp_o3_gicp(file_idx, cfg, refine=None, refine_radius=0.05, precomputed_results=None):
pc1, pc2, pc1_centroid = load_pountclouds(file_idx, cfg)
voxel_size = 0.05
start = time.time()
if precomputed_results is None:
distance_threshold = voxel_size * 1.5
source_down, target_down, source_fpfh, target_fpfh = ICP._icp_global_prepare_dataset(pc1, pc2, voxel_size)
reg_res = o3.registration_ransac_based_on_feature_matching(
source_down,
target_down,
source_fpfh,
target_fpfh,
distance_threshold,
o3.TransformationEstimationPointToPoint(with_constraint=cfg.evaluation.special.icp.with_constraint, with_scaling=False),
4, # scaling=False
[o3.CorrespondenceCheckerBasedOnEdgeLength(0.9), o3.CorrespondenceCheckerBasedOnDistance(distance_threshold)],
o3.RANSACConvergenceCriteria(4000000, 500))
transformation = reg_res.transformation
else:
precomp_pred_translation, precomp_pred_angle, precomp_pred_center = precomputed_results
transformation = get_mat_angle(precomp_pred_translation, precomp_pred_angle, precomp_pred_center)
if refine is None:
time_elapsed = time.time() - start
return transformation, pc1_centroid, time_elapsed
else:
if refine == 'p2p':
reg_p2p = o3.registration_icp(pc1, pc2, refine_radius, transformation, o3.TransformationEstimationPointToPoint(with_constraint=cfg.evaluation.special.icp.with_constraint, with_scaling=False))
# if file_idx == 8019:
# print('->', reg_p2p.transformation)
time_elapsed = time.time() - start
return reg_p2p.transformation, pc1_centroid, time_elapsed
else:
assert False 示例7: refine_registration
# 需要导入模块: import open3d [as 别名]
# 或者: from open3d import TransformationEstimationPointToPoint [as 别名]
def refine_registration(source, target, corrs):
start = time.time()
p2p = o3d.TransformationEstimationPointToPoint()
result = p2p.compute_transformation(source, target, o3d.Vector2iVector(corrs))
elapsed_time = time.time() - start
return result, elapsed_time 示例8: refine_registration
# 需要导入模块: import open3d [as 别名]
# 或者: from open3d import TransformationEstimationPointToPoint [as 别名]
def refine_registration(source, target, corrs):
start = time.time()
p2p = o3.TransformationEstimationPointToPoint()
result = p2p.compute_transformation(source, target, o3.Vector2iVector(corrs))
elapsed_time = time.time() - start
return result, elapsed_time 示例9: execute_global_registration
# 需要导入模块: import open3d [as 别名]
# 或者: from open3d import TransformationEstimationPointToPoint [as 别名]
def execute_global_registration(src_keypts, tgt_keypts, src_desc, tgt_desc, distance_threshold):
result = open3d.registration_ransac_based_on_feature_matching(
src_keypts, tgt_keypts, src_desc, tgt_desc,
distance_threshold,
open3d.TransformationEstimationPointToPoint(False), 4,
[open3d.CorrespondenceCheckerBasedOnEdgeLength(0.9),
open3d.CorrespondenceCheckerBasedOnDistance(distance_threshold)],
open3d.RANSACConvergenceCriteria(4000000, 500))
return result