sksurgerysurfacematch.algorithms.pcl_icp_registration module

PCL ICP implementation of RigidRegistration interface.

class sksurgerysurfacematch.algorithms.pcl_icp_registration.RigidRegistration(max_iterations: int = 100, max_correspondence_threshold: float = 1, transformation_epsilon: float = 0.0001, fitness_epsilon: float = 0.0001, use_lm_icp: bool = True)

Bases: sksurgerysurfacematch.interfaces.rigid_registration.RigidRegistration

Class that uses PCL implementation of ICP to register fixed/moving clouds.

register(moving_cloud: numpy.ndarray, fixed_cloud: numpy.ndarray)

Uses PCL library, wrapped in scikit-surgerypclcpp.

Parameters:

• moving_cloud – [Nx3] source/moving point cloud.
• fixed_cloud – [Mx3] target/fixed point cloud.

Returns:

[4x4] transformation matrix, moving-to-fixed space.