open3d.pipelines.registration.registration_icp#

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

  • estimation_method (open3d.pipelines.registration.TransformationEstimation, optional, default=TransformationEstimationPointToPoint without scaling.) – 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