open3d.pipelines.registration.registration_colored_icp#

open3d.pipelines.registration.registration_colored_icp(source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, max_correspondence_distance: float, init: numpy.ndarray[numpy.float64[4, 4]] = array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), estimation_method: open3d.pipelines.registration.TransformationEstimationForColoredICP = TransformationEstimationForColoredICP(lambda_geometric=0.968), criteria: open3d.pipelines.registration.ICPConvergenceCriteria = ICPConvergenceCriteria(relative_fitness=1.000000e-06, relative_rmse=1.000000e-06, max_iteration=30)) open3d.pipelines.registration.RegistrationResult#

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, default=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]])) – Initial transformation estimation

  • estimation_method (open3d.pipelines.registration.TransformationEstimationForColoredICP, optional, default=TransformationEstimationForColoredICP(lambda_geometric=0.968)) – Estimation method. One of (TransformationEstimationPointToPoint, TransformationEstimationPointToPlane, TransformationEstimationForGeneralizedICP, TransformationEstimationForColoredICP)

  • criteria (open3d.pipelines.registration.ICPConvergenceCriteria, optional, default=ICPConvergenceCriteria(relative_fitness=1.000000e-06, relative_rmse=1.000000e-06, max_iteration=30)) – Convergence criteria

Returns:

open3d.pipelines.registration.RegistrationResult