trimesh.registration

registration.py

Functions for registering (aligning) point clouds with meshes.

Functions

icp(a, b[, initial, threshold, max_iterations])

Apply the iterative closest point algorithm to align a point cloud with another point cloud or mesh.

mesh_other(mesh, other[, samples, scale, …])

Align a mesh with another mesh or a PointCloud using the principal axes of inertia as a starting point which is refined by iterative closest point.

procrustes(a, b[, reflection, translation, …])

Perform Procrustes’ analysis subject to constraints.
trimesh.registration.icp(a, b, initial=array([[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]), threshold=1e-05, max_iterations=20, **kwargs)

Apply the iterative closest point algorithm to align a point cloud with another point cloud or mesh. Will only produce reasonable results if the initial transformation is roughly correct. Initial transformation can be found by applying Procrustes’ analysis to a suitable set of landmark points (often picked manually).

Parameters

  • a ((n,3) float) – List of points in space.

  • b ((m,3) float or Trimesh) – List of points in space or mesh.

  • initial ((4,4) float) – Initial transformation.

  • threshold (float) – Stop when change in cost is less than threshold

  • max_iterations (int) – Maximum number of iterations

  • kwargs (dict) – Args to pass to procrustes

Returns

  • matrix ((4,4) float) – The transformation matrix sending a to b

  • transformed ((n,3) float) – The image of a under the transformation

  • cost (float) – The cost of the transformation

trimesh.registration.mesh_other(mesh, other, samples=500, scale=False, icp_first=10, icp_final=50)

Align a mesh with another mesh or a PointCloud using the principal axes of inertia as a starting point which is refined by iterative closest point.

Parameters

  • mesh (trimesh.Trimesh object) – Mesh to align with other

  • other (trimesh.Trimesh or (n, 3) float) – Mesh or points in space

  • samples (int) – Number of samples from mesh surface to align

  • scale (bool) – Allow scaling in transform

  • icp_first (int) – How many ICP iterations for the 9 possible combinations of sign flippage

  • icp_final (int) – How many ICP iterations for the closest candidate from the wider search

Returns

  • mesh_to_other ((4, 4) float) – Transform to align mesh to the other object

  • cost (float) – Average squared distance per point

trimesh.registration.procrustes(a, b, reflection=True, translation=True, scale=True, return_cost=True)

Perform Procrustes’ analysis subject to constraints. Finds the transformation T mapping a to b which minimizes the square sum distances between Ta and b, also called the cost.

Parameters

  • a ((n,3) float) – List of points in space

  • b ((n,3) float) – List of points in space

  • reflection (bool) – If the transformation is allowed reflections

  • translation (bool) – If the transformation is allowed translations

  • scale (bool) – If the transformation is allowed scaling

  • return_cost (bool) – Whether to return the cost and transformed a as well

Returns

  • matrix ((4,4) float) – The transformation matrix sending a to b

  • transformed ((n,3) float) – The image of a under the transformation

  • cost (float) – The cost of the transformation