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Point Cloud Registration

Transform and register 3-D point clouds

You can use pcregrigid to register a moving point cloud to a fixed point cloud. The registration algorithm is based on the iterative closest point (ICP) algorithm. Best performance of this iterative process requires adjusting properties for your data. Before using pcregrigid, consider using pcdownsample to downsample your point clouds, which improves the accuracy and efficiency of registration.


pcdownsampleDownsample a 3-D point cloud
pctransformRigid transform of 3-D point cloud
pcregrigidRegister two point clouds using ICP algorithm
pcmergeMerge two 3-D point clouds
pointCloudObject for storing a 3-D point cloud


Point Cloud Registration Workflow

Understand point cloud registration workflow.

Align Two Point Clouds

Apply rigid registration to align two point clouds.

3-D Point Cloud Registration and Stitching

This example shows how to combine multiple point clouds to reconstruct a 3-D scene using Iterative Closest Point (ICP) algorithm.