open3d.t.pipelines.registration.registration_symmetric_icp#
- open3d.t.pipelines.registration.registration_symmetric_icp(source: open3d.pybind.t.geometry.PointCloud, target: open3d.pybind.t.geometry.PointCloud, max_correspondence_distance: typing.SupportsFloat, init_source_to_target: open3d.pybind.core.Tensor = [[1 0 0 0], [0 1 0 0], [0 0 1 0], [0 0 0 1]] Tensor[shape={4, 4}, stride={4, 1}, Float64, , estimation_method: open3d.pybind.t.pipelines.registration.TransformationEstimationSymmetric = TransformationEstimationSymmetric, criteria: open3d.pybind.t.pipelines.registration.ICPConvergenceCriteria = ICPConvergenceCriteria[relative_fitness_=1.000000e-06, relative_rmse=1.000000e-06, max_iteration_=30].) open3d.pybind.t.pipelines.registration.RegistrationResult#
Register source to target with symmetric point-to-plane ICP. Both point clouds must have normals.
- Parameters:
source (open3d.pybind.t.geometry.PointCloud) – The source point cloud.
target (open3d.pybind.t.geometry.PointCloud) – The target point cloud.
max_correspondence_distance (SupportsFloat) – Maximum correspondence points-pair distance.
init_source_to_target (open3d.pybind.core.Tensor, optional, default=[[1 0 0 0], [0 1 0 0], [0 0 1 0], [0 0 0 1]] Tensor[shape={4, 4}, stride={4, 1}, Float64) – Initial transformation estimation ()
estimation_method (open3d.pybind.t.pipelines.registration.TransformationEstimationSymmetric, optional, default=TransformationEstimationSymmetric) – Only
TransformationEstimationSymmetricis supported.criteria (open3d.pybind.t.pipelines.registration.ICPConvergenceCriteria, optional, default=ICPConvergenceCriteria[relative_fitness_=1.000000e-06, relative_rmse=1.000000e-06, max_iteration_=30].) – Convergence criteria
- Returns:
open3d.pybind.t.pipelines.registration.RegistrationResult