cloudViewer.pipelines.registration.registration_generalized_icp#

cloudViewer.pipelines.registration.registration_generalized_icp(source, target, max_correspondence_distance, init, estimation_method=TransformationEstimationForGeneralizedICP with epsilon:0.001000, criteria=ICPConvergenceCriteria class with relative_fitness=1.000000e-06, relative_rmse=1.000000e-06, and max_iteration=30)#

Function for Generalized 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.TransformationEstimationForGeneralizedICP (estimation_method) – 0.001000): Estimation method. One of (TransformationEstimationPointToPoint, TransformationEstimationPointToPlane, TransformationEstimationForGeneralizedICP, TransformationEstimationForColoredICP)

  • optional – 0.001000): Estimation method. One of (TransformationEstimationPointToPoint, TransformationEstimationPointToPlane, TransformationEstimationForGeneralizedICP, TransformationEstimationForColoredICP)

  • epsilon (default=TransformationEstimationForGeneralizedICP with) – 0.001000): 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