open3d.registration.registration_icp

open3d.registration.registration_icp(source, target, max_correspondence_distance, init=(with default value), estimation_method=registration::TransformationEstimationPointToPoint without scaling., criteria=registration::ICPConvergenceCriteria class with relative_fitness = 0.000001, relative_rmse = 0.000001, and max_iteration = 30)

Function for ICP registration

Parameters

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

• target (open3d.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.registration.TransformationEstimation, optional, default=registration::TransformationEstimationPointToPoint without scaling.) – Estimation method. One of (registration::TransformationEstimationPointToPoint, registration::TransformationEstimationPointToPlane)

• criteria (open3d.registration.ICPConvergenceCriteria, optional, default=registration::ICPConvergenceCriteria class with relative_fitness = 0.000001, relative_rmse = 0.000001, and max_iteration = 30) – Convergence criteria

Returns

open3d.registration.RegistrationResult