sksurgerysurfacematch.utils.registration_utils module

Various registration routines to reduce duplication.

sksurgerysurfacematch.utils.registration_utils.do_rigid_registration(reconstructed_cloud, reference_cloud, rigid_registration: sksurgerysurfacematch.interfaces.rigid_registration.RigidRegistration, initial_ref2recon: numpy.ndarray = None)

Triggers a rigid body registration using rigid_registration. :param reconstructed_cloud: [Nx3] point cloud, e.g. from video. :param reference_cloud: [Mx3] point cloud, e.g. from CT/MR :param rigid_registration: Object that implements a rigid registration. :param initial_ref2recon_transform: [4x4] ndarray representing an initial estimate. :return: residual (float), [4x4] transform