open3d.registration

Classes

CorrespondenceChecker	Base class that checks if two (small) point clouds can be aligned.
CorrespondenceCheckerBasedOnDistance	Class to check if aligned point clouds are close (less than specified threshold).
CorrespondenceCheckerBasedOnEdgeLength	Check if two point clouds build the polygons with similar edge lengths.
CorrespondenceCheckerBasedOnNormal	Class to check if two aligned point clouds have similar normals.
FastGlobalRegistrationOption	Options for FastGlobalRegistration.
Feature	Class to store featrues for registration.
GlobalOptimizationConvergenceCriteria	Convergence criteria of GlobalOptimization.
GlobalOptimizationGaussNewton	Global optimization with Gauss-Newton algorithm.
GlobalOptimizationLevenbergMarquardt	Global optimization with Levenberg-Marquardt algorithm.
GlobalOptimizationMethod	Base class for global optimization method.
GlobalOptimizationOption	Option for GlobalOptimization.
ICPConvergenceCriteria	Class that defines the convergence criteria of ICP.
PoseGraph	Data structure defining the pose graph.
PoseGraphEdge	Edge of PoseGraph.
PoseGraphEdgeVector	Vector of PoseGraphEdge
PoseGraphNode	Node of PoseGraph.
PoseGraphNodeVector	Vector of PoseGraphNode
RANSACConvergenceCriteria	Class that defines the convergence criteria of RANSAC.
RegistrationResult	Class that contains the registration results.
TransformationEstimation	Base class that estimates a transformation between two point clouds.
TransformationEstimationPointToPlane	Class to estimate a transformation for point to plane distance.
TransformationEstimationPointToPoint	Class to estimate a transformation for point to point distance.

Functions

compute_fpfh_feature(input, search_param)	Function to compute FPFH feature for a point cloud
evaluate_registration(source, target, …[, …])	Function for evaluating registration between point clouds
get_information_matrix_from_point_clouds(…)	Function for computing information matrix from transformation matrix
global_optimization(pose_graph, method, …)	Function to optimize registration.PoseGraph
registration_colored_icp(source, target, …)	Function for Colored ICP registration
registration_fast_based_on_feature_matching(…)	Function for fast global registration based on feature matching
registration_icp(source, target, …[, …])	Function for ICP registration
registration_ransac_based_on_correspondence(…)	Function for global RANSAC registration based on a set of correspondences
registration_ransac_based_on_feature_matching(…)	Function for global RANSAC registration based on feature matching