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Register two point clouds using ICP algorithm

`pcregrigid`

is not recommended. Use `pcregistericp`

instead.

`tform = pcregrigid(moving,fixed)`

```
[tform,movingReg]
= pcregrigid(moving,fixed)
```

`[___,rmse] = pcregrigid(moving,fixed)`

`[___] = pcregrigid(moving,fixed,Name,Value)`

returns a rigid transformation that registers a moving point cloud to a fixed
point cloud.`tform`

= pcregrigid(`moving`

,`fixed`

)

The registration algorithm is based on the "iterative closest point" (ICP)
algorithm. Best performance of this iterative process requires adjusting
properties for your data. Consider downsampling point clouds using `pcdownsample`

before using
`pcregrigid`

to improve accuracy and efficiency of
registration.

Point cloud normals are required by the registration algorithm when you
select the `'pointToPlane'`

metric. Therefore, if the input
point cloud’s `Normal`

property is empty, the
function fills it. When the function fills the `Normal`

property, it uses 6 points to fit the local plane. Six
points may not work under all circumstances. If registration with the
`'pointToPlane'`

metric fails, consider calling the
`pcnormals`

function which allows
you to select the number of points to use.

`[___] = pcregrigid(`

uses additional options specified by one or more `moving`

,`fixed`

,`Name,Value`

)`Name,Value`

pair arguments.

[1] Chen, Y. and G. Medioni. “Object Modelling by Registration of Multiple Range Images.” Image Vision Computing. Butterworth-Heinemann . Vol. 10, Issue 3, April 1992, pp. 145-155.

[2] Besl, Paul J., N. D. McKay. “A Method for Registration of 3-D Shapes.” IEEE Transactions on Pattern Analysis and Machine Intelligence. Los Alamitos, CA: IEEE Computer Society. Vol. 14, Issue 2, 1992, pp. 239-256.