diff --git a/pycpd/rigid_registration.py b/pycpd/rigid_registration.py
index fa43e6d..272ebb6 100644
--- a/pycpd/rigid_registration.py
+++ b/pycpd/rigid_registration.py
@@ -25,6 +25,10 @@ class RigidRegistration(EMRegistration):
         Utility array used to calculate the rotation matrix.
         Defined in Fig. 2 of https://arxiv.org/pdf/0905.2635.pdf.
 
+    rotationFilter: single character
+        'x','y' or 'z'
+        If one of those values is set, only rotations areound this axis are allowed
+
     """
     # Additional parameters used in this class, but not inputs.
     # YPY: float
@@ -36,7 +40,7 @@ class RigidRegistration(EMRegistration):
     #     Defined in Fig. 2 of https://arxiv.org/pdf/0905.2635.pdf.
 
 
-    def __init__(self, R=None, t=None, s=None, scale=True, *args, **kwargs):
+    def __init__(self, R=None, t=None, s=None, rotationFilter=None, scale=True, *args, **kwargs):
         super().__init__(*args, **kwargs)
         if self.D != 2 and self.D != 3:
             raise ValueError(
@@ -54,10 +58,15 @@ def __init__(self, R=None, t=None, s=None, scale=True, *args, **kwargs):
             raise ValueError(
                 'The scale factor must be a positive number. Instead got: {}.'.format(s))
 
+        if rotationFilter is not None and ((rotationFilter != 'x') and (rotationFilter != 'y') and (rotationFilter != 'z')):
+            raise ValueError(
+                'Valid rotation filters are x,y or z. If one of those values is set, only rotations areound this axis are allowed. Instead got: {}.'.format(rotationFilter))
+
         self.R = np.eye(self.D) if R is None else R
         self.t = np.atleast_2d(np.zeros((1, self.D))) if t is None else t
         self.s = 1 if s is None else s
         self.scale = scale
+        self.rotationFilter = rotationFilter
 
     def update_transform(self):
         """
@@ -88,6 +97,26 @@ def update_transform(self):
 
         # Calculate the rotation matrix using Eq. 9 of https://arxiv.org/pdf/0905.2635.pdf.
         self.R = np.transpose(np.dot(np.dot(U, np.diag(C)), V))
+
+        if self.rotationFilter is not None and self.rotationFilter == 'z':
+            self.R[0,2] = 0
+            self.R[1,2] = 0
+            self.R[2,0] = 0
+            self.R[2,1] = 0
+            self.R[2,2] = 1
+        elif self.rotationFilter is not None and self.rotationFilter == 'x':
+            self.R[0,0] = 1
+            self.R[0,1] = 0
+            self.R[0,2] = 0
+            self.R[1,0] = 0
+            self.R[2,0] = 0
+        elif self.rotationFilter is not None and self.rotationFilter == 'y':
+            self.R[0,1] = 0
+            self.R[1,0] = 0
+            self.R[2,1] = 0
+            self.R[1,2] = 0
+            self.R[1,1] = 1
+        
         # Update scale and translation using Fig. 2 of https://arxiv.org/pdf/0905.2635.pdf.
         if self.scale is True:
             self.s = np.trace(np.dot(np.transpose(self.A), np.transpose(self.R))) / self.YPY