cloudViewer.pipelines.registration.registration_colored_icp#

cloudViewer.pipelines.registration.registration_colored_icp(source, target, max_correspondence_distance, init, estimation_method=TransformationEstimationForColoredICP with lambda_geometric:0.968000, criteria=ICPConvergenceCriteria class with relative_fitness=1.000000e-06, relative_rmse=1.000000e-06, and max_iteration=30)#

Function for Colored ICP registration

Parameters:

  • source (cloudViewer.geometry.ccPointCloud) – The source point cloud.

  • target (cloudViewer.geometry.ccPointCloud) – The target point cloud.

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

  • init (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Initial transformation estimation

  • (cloudViewer.pipelines.registration.TransformationEstimationForColoredICP (estimation_method) – 0.968000): Estimation method. One of (TransformationEstimationPointToPoint, TransformationEstimationPointToPlane, TransformationEstimationForGeneralizedICP, TransformationEstimationForColoredICP)

  • optional – 0.968000): Estimation method. One of (TransformationEstimationPointToPoint, TransformationEstimationPointToPlane, TransformationEstimationForGeneralizedICP, TransformationEstimationForColoredICP)

  • lambda_geometric (default=TransformationEstimationForColoredICP with) – 0.968000): Estimation method. One of (TransformationEstimationPointToPoint, TransformationEstimationPointToPlane, TransformationEstimationForGeneralizedICP, TransformationEstimationForColoredICP)

  • criteria (cloudViewer.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:

cloudViewer.pipelines.registration.RegistrationResult