Merge branch 'master' into develop

Author: jingnanshi

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])
 
 
-
-

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