cloudViewer.pipelines.registration.registration_icp

cloudViewer.pipelines.registration.registration_icp(source, target, max_correspondence_distance, init, 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 (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

• estimation_method (cloudViewer.pipelines.registration.TransformationEstimation, optional, default=TransformationEstimationPointToPoint without scaling.) – 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