open3d.pipelines.registration¶

Classes

`CauchyLoss`	The loss \(\rho(r)\) for a given residual `r` is:
`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.
`GMLoss`	The loss \(\rho(r)\) for a given residual `r` is:
`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.
`HuberLoss`	The loss \(\rho(r)\) for a given residual `r` is:
`ICPConvergenceCriteria`	Class that defines the convergence criteria of ICP.
`L1Loss`	The loss \(\rho(r)\) for a given residual `r` is given by:
`L2Loss`	The loss \(\rho(r)\) for a given residual `r` is given by:
`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.
`RobustKernel`	Base class that models a robust kernel for outlier rejection.
`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.
`TukeyLoss`	The loss \(\rho(r)\) for a given residual `r` is:

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 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