Iterative Closest Point (ICP) - Python issues

Hi there,

I’m using ICP to resister a point cloud retrieved trough stereo disparity to a ground truth PC generated from an accurate CAD model of the object.

I would like to initialize the ICP algorithm by using a first guess pose to be given as input to the function registerModelToScene(), which should take as input srcPC, dstPC and a 4x4 matrix as initial pose.

Although the documentation says that I can use a pose as input, I got the following error:

pff_match_3d_ICP.registerModelToScene() takes at most 2 arguments (3 given)

Does anyone have any suggestions?
Thank you!

how are you trying to call this, exactly ?

  • this is a member function, you need to create an ICP instance first & call the method on that
  • there is an overload using vector<Pose3DPtr> (but not for a simple 4x4 Mat)