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.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[numpy.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.pipelines.registration.TransformationEstimation, optional, default=TransformationEstimationPointToPoint without scaling.) – Estimation method. One of (
TransformationEstimationPointToPoint
,TransformationEstimationPointToPlane
,TransformationEstimationForGeneralizedICP
,TransformationEstimationForColoredICP
)criteria (open3d.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.pipelines.registration.RegistrationResult