open3d.t.pipelines.registration.registration_icp

open3d.t.pipelines.registration.registration_icp(source, target, max_correspondence_distance, init_source_to_target=(with default value), estimation_method=TransformationEstimationPointToPoint, criteria=ICPConvergenceCriteria[relative_fitness_=1.000000e-06, relative_rmse=1.000000e-06, max_iteration_=30].)

Function for ICP registration

Parameters

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

• target (open3d.t.geometry.PointCloud) – The target point cloud.

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

• init_source_to_target (open3d.core.Tensor, optional) –

  Initial transformation estimation Default value:

  [[1.0 0.0 0.0 0.0], [0.0 1.0 0.0 0.0], [0.0 0.0 1.0 0.0], [0.0 0.0 0.0 1.0]] Tensor[shape={4, 4}, stride={4, 1}, Float64

  ()

• estimation_method (open3d.t.pipelines.registration.TransformationEstimation, optional, default=TransformationEstimationPointToPoint) – Estimation method. One of (TransformationEstimationPointToPoint, TransformationEstimationPointToPlane)

• criteria (open3d.t.pipelines.registration.ICPConvergenceCriteria, optional, default=ICPConvergenceCriteria[relative_fitness_=1.000000e-06, relative_rmse=1.000000e-06, max_iteration_=30]) – Convergence criteria

Returns

open3d.t.pipelines.registration.RegistrationResult