open3d.pipelines.registration.registration_colored_icp

open3d.pipelines.registration.registration_colored_icp(source, target, max_correspondence_distance, init=(with default value), 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 (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.]])

  • (open3d.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)

  • with lambda_geometric (default=TransformationEstimationForColoredICP) – 0.968000): 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