PointCloud.ICP#

PointCloud.ICP(data: PointCloud, T0: SE3 | None = None, max_correspondence_distance: float = 1, **kwargs: Any) → tuple[SE3, Any][source]#

Register point cloud using ICP

Parameters:

  • data (PointCloud) – point cloud to register

  • T0 (SE3, optional) – initial transform, defaults to None

  • max_correspondence_distance (float, optional) – distance beyond which correspondence is broken, defaults to 1

Returns:

pose of data with respect to instance points

Return type:

SE3

Seealso:

open3d.pipelines.registration.TransformationEstimationPointToPoint