open3d.pipelines.registration.registration_generalized_icp

open3d.pipelines.registration.registration_generalized_icp(source: open3d.pybind.geometry.PointCloud, target: open3d.pybind.geometry.PointCloud, max_correspondence_distance: typing.SupportsFloat, init: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, estimation_method: open3d.pybind.pipelines.registration.TransformationEstimationForGeneralizedICP = TransformationEstimationForGeneralizedICP(epsilon=0.001), criteria: open3d.pybind.pipelines.registration.ICPConvergenceCriteria = ICPConvergenceCriteria(relative_fitness=1.000000e-06, relative_rmse=1.000000e-06, max_iteration=30)) → open3d.pybind.pipelines.registration.RegistrationResult

Function for Generalized ICP registration

Parameters:

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

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

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

• init (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Initial transformation estimation

• estimation_method (open3d.pybind.pipelines.registration.TransformationEstimationForGeneralizedICP, optional, default=TransformationEstimationForGeneralizedICP(epsilon=0.001)) – Estimation method. One of (TransformationEstimationPointToPoint, TransformationEstimationPointToPlane, TransformationEstimationForGeneralizedICP, TransformationEstimationForColoredICP)

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

Returns:

open3d.pybind.pipelines.registration.RegistrationResult