Update fpfh_icp python example to work with latest Open3d (#128)

MIT-SPARK · Jul 2, 2022 · 111e2ce · 111e2ce
1 parent 1ac3090
commit 111e2ce
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Showing 2 changed files with 3 additions and 5 deletions.
diff --git a/examples/teaser_python_fpfh_icp/example.py b/examples/teaser_python_fpfh_icp/example.py
@@ -66,14 +66,12 @@
 # local refinement using ICP
 icp_sol = o3d.pipelines.registration.registration_icp(
       A_pcd, B_pcd, NOISE_BOUND, T_teaser,
-      o3d.registration.TransformationEstimationPointToPoint(),
-      o3d.registration.ICPConvergenceCriteria(max_iteration=100))
+      o3d.pipelines.registration.TransformationEstimationPointToPoint(),
+      o3d.pipelines.registration.ICPConvergenceCriteria(max_iteration=100))
 T_icp = icp_sol.transformation
 
 # visualize the registration after ICP refinement
 A_pcd_T_icp = copy.deepcopy(A_pcd).transform(T_icp)
 o3d.visualization.draw_geometries([A_pcd_T_icp,B_pcd])
 
 
-
-
diff --git a/examples/teaser_python_fpfh_icp/helpers.py b/examples/teaser_python_fpfh_icp/helpers.py
@@ -12,7 +12,7 @@ def extract_fpfh(pcd, voxel_size):
       o3d.geometry.KDTreeSearchParamHybrid(radius=radius_normal, max_nn=30))
 
   radius_feature = voxel_size * 5
-  fpfh = o3d.registration.compute_fpfh_feature(
+  fpfh = o3d.pipelines.registration.compute_fpfh_feature(
       pcd, o3d.geometry.KDTreeSearchParamHybrid(radius=radius_feature, max_nn=100))
   return np.array(fpfh.data).T