locan.data.register.register_icp#
- locan.data.register.register_icp(locdata, other_locdata, matrix=None, offset=None, pre_translation=None, max_correspondence_distance=1000, max_iteration=10000, verbose=True)[source]#
Register points or coordinates in locdata by an “Iterative Closest Point” algorithm using open3d.
- Parameters:
locdata (
Union[_SupportsArray[dtype[Any]],_NestedSequence[_SupportsArray[dtype[Any]]],bool,int,float,complex,str,bytes,_NestedSequence[Union[bool,int,float,complex,str,bytes]],LocData]) – Localization data representing the source on which to perform the manipulation.other_locdata (
Union[_SupportsArray[dtype[Any]],_NestedSequence[_SupportsArray[dtype[Any]]],bool,int,float,complex,str,bytes,_NestedSequence[Union[bool,int,float,complex,str,bytes]],LocData]) – Localization data representing the target.matrix (
Union[_SupportsArray[dtype[Any]],_NestedSequence[_SupportsArray[dtype[Any]]],bool,int,float,complex,str,bytes,_NestedSequence[Union[bool,int,float,complex,str,bytes]],None]) – Transformation matrix with shape (d, d) used as initial value. If None the unit matrix is used.offset (
Union[_SupportsArray[dtype[Any]],_NestedSequence[_SupportsArray[dtype[Any]]],bool,int,float,complex,str,bytes,_NestedSequence[Union[bool,int,float,complex,str,bytes]],None]) – Translation vector with shape (d,) used as initial value. If None a vector of zeros is used.pre_translation (
Union[_SupportsArray[dtype[Any]],_NestedSequence[_SupportsArray[dtype[Any]]],bool,int,float,complex,str,bytes,_NestedSequence[Union[bool,int,float,complex,str,bytes]],None]) – Values for translation of coordinates before registration.max_correspondence_distance (
float) – Threshold distance for the icp algorithm. Parameter is passed to open3d algorithm.max_iteration (
int) – Maximum number of iterations. Parameter is passed to open3d algorithm.verbose (
bool) – Flag indicating if transformation results are printed out.
- Returns:
Matrix and offset representing the optimized transformation.
- Return type: