ktk.geometry.register_points#
- register_points(global_points, local_points)[source]#
Find the homogeneous transforms between two series of point clouds.
- Parameters:
global_points (ArrayLike) – Destination points as an Nx4xM series of N sets of M points.
local_points (ArrayLike) – Local points as an array of shape Nx4xM series of N sets of M points. global_points and local_points must have the same shape.
- Returns:
Array of shape Nx4x4, expressing a series of 4x4 homogeneous transforms.
- Return type:
np.ndarray