Point-to-point ICP registration

Minimizes sum of squared distances between corresponding points.

Usage

px_icp_point_to_point(
  source,
  target,
  max_correspondence_distance = 1,
  max_iterations = 50L,
  tolerance = 1e-06,
  init_transform = NULL
)

source: A px_cloud — the cloud to be transformed.
target: A px_cloud — the fixed reference cloud.
max_correspondence_distance: Numeric — maximum distance for point correspondence (in coordinate units).
max_iterations: Integer — maximum iterations.
tolerance: Numeric — convergence tolerance on transformation change.
init_transform: 4x4 numeric matrix, or NULL. Initial transformation guess. If NULL and both clouds are px_terrestrial with scan positions, computes an initial guess from the scan geometry. Otherwise uses identity.