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