rigid_registration.py 文件源码

def register(self, callback):
    self.initialize()

    while self.iteration < self.maxIterations and self.err > self.tolerance:
      self.iterate()
      if callback:
        callback(iteration=self.iteration, error=self.err, X=self.X, Y=self.TY)

    return self.TY, self.R, np.atleast_2d(self.t), self.s