open3d.pipelines.registration.registration_icp

open3d.pipelines.registration.registration_icp(source, target, max_correspondence_distance, init=(with default value), estimation_method=TransformationEstimationPointToPoint without scaling., criteria=ICPConvergenceCriteria class with relative_fitness=1.000000e-06, relative_rmse=1.000000e-06, and max_iteration=30)

Function for ICP registration

Parameters

• source (open3d.cpu.pybind.geometry.PointCloud) – The source point cloud.

• target (open3d.cpu.pybind.geometry.PointCloud) – The target point cloud.

• max_correspondence_distance (float) – Maximum correspondence points-pair distance.

• init (numpy.ndarray[float64[4, 4]], optional) –

  Initial transformation estimation Default value:

  array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]])

• estimation_method (open3d.cpu.pybind.pipelines.registration.TransformationEstimation, optional, default=TransformationEstimationPointToPoint without scaling.) – Estimation method. One of (TransformationEstimationPointToPoint, TransformationEstimationPointToPlane)

• criteria (open3d.cpu.pybind.pipelines.registration.ICPConvergenceCriteria, optional, default=ICPConvergenceCriteria class with relative_fitness=1.000000e-06, relative_rmse=1.000000e-06, and max_iteration=30) – Convergence criteria

Returns

open3d.cpu.pybind.pipelines.registration.RegistrationResult