emmi.utils.point_cloud_utils¶

Contains point cloud utilities.

Classes¶

Class with the interface to register point clouds.

class emmi.utils.point_cloud_utils.PointCloudRegistration(center_shift=None, xyz_scale=None)¶

Class with the interface to register point clouds.

The point clouds are registered by estimating the center shift and scaling of the source point cloud to the target point cloud.
The source point cloud is transformed to the target point cloud using the estimated center shift and scaling.
A center_shift or xyz_scale can be provided to transform the source point cloud to the target point cloud.

Initialize the PointCloudRegistration class.

Parameters:

center_shift (numpy.ndarray | None) – The center shift of the point cloud. Defaults to None.
xyz_scale (float | None) – The scaling of the point cloud. Defaults to None.

estimate_transforms(src_points, target_points)¶

Estimate the transformation parameters for registering the source point cloud to the target point cloud. Only 3D point clouds are supported.

Parameters:

src_points (numpy.ndarray) – The source point cloud. Only 3D point clouds are supported.
target_points (numpy.ndarray) – The target point cloud. Only 3D point clouds are supported.

Return type:

None

transform(src_points)¶

Transform the source point cloud to the target point cloud.