icp_point2plane — 3D refine op

• Data kinds: points × points × normals → pose

• Call: import match3d; match3d.icp_point2plane(src, dst, dst_normals, iters=30, tol=1e-09, init=None, trim=None, device='cpu') (or ops3d.get("icp_point2plane"))

Usage

Refine the rigid transform to high accuracy with point-to-plane ICP (Gauss-Newton, small-angle approximation).

References (sample data, literature)

• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).

• Operator provenance and references — the sources of the research/methods this op family came from.

Runnable examples (verified samples that actually call this op)

• refinement — py -3.11 examples_3d/refinement.py

Ops the type connects to (they accept pose as input)

fuse_to_voxel · pose_error · bundle_adjust · mean_reprojection_error · optimize_pose_graph · relative_pose · mean_edge_error · rotation_translation_error

Same category (refine)

refine_peak_newton · refine_translation_lk · refine_lm · refine_rotation_z · icp_point2point_3d

*Provenance: match3d.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.