Point Cloud Alignment

Module: cutoop.align.

functionestimateSimilarityTransform​(source_Nx3: ndarray, target_Nx3: ndarray, verbose = False)

Compute an affine OutTransform from source_Nx3 to target_Nx3 , Add RANSAC algorithm to account for outliers.

Copying from object-deformnet

Returns: scalar Scale, (3, 3) Rotation, (3,) Translation, (4, 4) OutTransform

functionestimateSimilarityUmeyama​(SourceHom, TargetHom)

Compute OutTransform s.t. OutTransform @ SourceHom approx. TargetHom Copy of original paper is at: umeyama

Parameters:

  • SourceHom – (4, N)
  • TargetHom – (4, N)

Returns: scalar Scale, (3, 3) Rotation, (3,) Translation, (4, 4) OutTransform