Open3D (C++ API)
Data Structures | Typedefs | Enumerations | Functions
open3d::registration Namespace Reference

Data Structures

class  CorrespondenceChecker
 
class  CorrespondenceCheckerBasedOnDistance
 Check if two aligned point clouds are close. More...
 
class  CorrespondenceCheckerBasedOnEdgeLength
 
class  CorrespondenceCheckerBasedOnNormal
 Check if two aligned point clouds have similar normals. More...
 
class  FastGlobalRegistrationOption
 
class  Feature
 
class  GlobalOptimizationConvergenceCriteria
 
class  GlobalOptimizationGaussNewton
 
class  GlobalOptimizationLevenbergMarquardt
 
class  GlobalOptimizationMethod
 
class  GlobalOptimizationOption
 
class  ICPConvergenceCriteria
 
class  PoseGraph
 
class  PoseGraphEdge
 
class  PoseGraphNode
 
class  RANSACConvergenceCriteria
 
class  RegistrationResult
 Class that contains the registration results. More...
 
class  TransformationEstimation
 
class  TransformationEstimationPointToPlane
 Estimate a transformation for point to plane distance. More...
 
class  TransformationEstimationPointToPoint
 Estimate a transformation for point to point distance. More...
 

Typedefs

typedef std::vector< Eigen::Vector2i > CorrespondenceSet
 

Enumerations

enum  TransformationEstimationType { TransformationEstimationType::Unspecified = 0, TransformationEstimationType::PointToPoint = 1, TransformationEstimationType::PointToPlane = 2, TransformationEstimationType::ColoredICP = 3 }
 

Functions

RegistrationResult RegistrationColoredICP (const geometry::PointCloud &source, const geometry::PointCloud &target, double max_distance, const Eigen::Matrix4d &init, const ICPConvergenceCriteria &criteria, double lambda_geometric)
 
RegistrationResult FastGlobalRegistration (const geometry::PointCloud &source, const geometry::PointCloud &target, const Feature &source_feature, const Feature &target_feature, const FastGlobalRegistrationOption &option)
 
std::shared_ptr< FeatureComputeFPFHFeature (const geometry::PointCloud &input, const geometry::KDTreeSearchParam &search_param=geometry::KDTreeSearchParamKNN())
 Function to compute FPFH feature for a point cloud. More...
 
std::shared_ptr< PoseGraphCreatePoseGraphWithoutInvalidEdges (const PoseGraph &pose_graph, const GlobalOptimizationOption &option)
 
void GlobalOptimization (PoseGraph &pose_graph, const GlobalOptimizationMethod &method, const GlobalOptimizationConvergenceCriteria &criteria, const GlobalOptimizationOption &option)
 
RegistrationResult EvaluateRegistration (const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &transformation=Eigen::Matrix4d::Identity())
 Function for evaluation. More...
 
RegistrationResult RegistrationICP (const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &init=Eigen::Matrix4d::Identity(), const TransformationEstimation &estimation=TransformationEstimationPointToPoint(false), const ICPConvergenceCriteria &criteria=ICPConvergenceCriteria())
 Functions for ICP registration. More...
 
RegistrationResult RegistrationRANSACBasedOnCorrespondence (const geometry::PointCloud &source, const geometry::PointCloud &target, const CorrespondenceSet &corres, double max_correspondence_distance, const TransformationEstimation &estimation, int ransac_n, const RANSACConvergenceCriteria &criteria)
 
RegistrationResult RegistrationRANSACBasedOnFeatureMatching (const geometry::PointCloud &source, const geometry::PointCloud &target, const Feature &source_feature, const Feature &target_feature, double max_correspondence_distance, const TransformationEstimation &estimation=TransformationEstimationPointToPoint(false), int ransac_n=4, const std::vector< std::reference_wrapper< const CorrespondenceChecker >> &checkers={}, const RANSACConvergenceCriteria &criteria=RANSACConvergenceCriteria())
 Function for global RANSAC registration based on feature matching. More...
 
Eigen::Matrix6d GetInformationMatrixFromPointClouds (const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &transformation)
 Function for computing information matrix from transformation matrix. More...
 

Typedef Documentation

◆ CorrespondenceSet

typedef std::vector<Eigen::Vector2i> open3d::registration::CorrespondenceSet

Enumeration Type Documentation

◆ TransformationEstimationType

Enumerator
Unspecified 
PointToPoint 
PointToPlane 
ColoredICP 

Function Documentation

◆ ComputeFPFHFeature()

std::shared_ptr< Feature > open3d::registration::ComputeFPFHFeature ( const geometry::PointCloud input,
const geometry::KDTreeSearchParam search_param 
)

Function to compute FPFH feature for a point cloud.

◆ CreatePoseGraphWithoutInvalidEdges()

std::shared_ptr< PoseGraph > open3d::registration::CreatePoseGraphWithoutInvalidEdges ( const PoseGraph pose_graph,
const GlobalOptimizationOption option 
)

Function to prune out uncertain edges having confidence_ < .edge_prune_threshold_

◆ EvaluateRegistration()

RegistrationResult open3d::registration::EvaluateRegistration ( const geometry::PointCloud source,
const geometry::PointCloud target,
double  max_correspondence_distance,
const Eigen::Matrix4d &  transformation 
)

Function for evaluation.

◆ FastGlobalRegistration()

RegistrationResult open3d::registration::FastGlobalRegistration ( const geometry::PointCloud source,
const geometry::PointCloud target,
const Feature source_feature,
const Feature target_feature,
const FastGlobalRegistrationOption option 
)

◆ GetInformationMatrixFromPointClouds()

Eigen::Matrix6d open3d::registration::GetInformationMatrixFromPointClouds ( const geometry::PointCloud source,
const geometry::PointCloud target,
double  max_correspondence_distance,
const Eigen::Matrix4d &  transformation 
)

Function for computing information matrix from transformation matrix.

◆ GlobalOptimization()

void open3d::registration::GlobalOptimization ( PoseGraph pose_graph,
const GlobalOptimizationMethod method = GlobalOptimizationLevenbergMarquardt(),
const GlobalOptimizationConvergenceCriteria criteria = GlobalOptimizationConvergenceCriteria(),
const GlobalOptimizationOption option = GlobalOptimizationOption() 
)

Function to optimize a PoseGraph Reference: [Kümmerle et al 2011] R Kümmerle, G. Grisetti, H. Strasdat, K. Konolige, W. Burgard g2o: A General Framework for Graph Optimization, ICRA 2011 [Choi et al 2015] S. Choi, Q.-Y. Zhou, V. Koltun, Robust Reconstruction of Indoor Scenes, CVPR 2015 [M. Lourakis 2009] M. Lourakis, SBA: A Software Package for Generic Sparse Bundle Adjustment, Transactions on Mathematical Software, 2009

◆ RegistrationColoredICP()

RegistrationResult open3d::registration::RegistrationColoredICP ( const geometry::PointCloud source,
const geometry::PointCloud target,
double  max_distance,
const Eigen::Matrix4d &  init = Eigen::Matrix4d::Identity(),
const ICPConvergenceCriteria criteria = ICPConvergenceCriteria(),
double  lambda_geometric = 0.968 
)

Function to align colored point clouds This is implementation of following paper J. Park, Q.-Y. Zhou, V. Koltun, Colored Point Cloud Registration Revisited, ICCV 2017

◆ RegistrationICP()

RegistrationResult open3d::registration::RegistrationICP ( const geometry::PointCloud source,
const geometry::PointCloud target,
double  max_correspondence_distance,
const Eigen::Matrix4d &  init,
const TransformationEstimation estimation,
const ICPConvergenceCriteria criteria 
)

Functions for ICP registration.

◆ RegistrationRANSACBasedOnCorrespondence()

RegistrationResult open3d::registration::RegistrationRANSACBasedOnCorrespondence ( const geometry::PointCloud source,
const geometry::PointCloud target,
const CorrespondenceSet corres,
double  max_correspondence_distance,
const TransformationEstimation estimation = TransformationEstimationPointToPoint(false),
int  ransac_n = 6,
const RANSACConvergenceCriteria criteria = RANSACConvergenceCriteria() 
)

Function for global RANSAC registration based on a given set of correspondences

◆ RegistrationRANSACBasedOnFeatureMatching()

RegistrationResult open3d::registration::RegistrationRANSACBasedOnFeatureMatching ( const geometry::PointCloud source,
const geometry::PointCloud target,
const Feature source_feature,
const Feature target_feature,
double  max_correspondence_distance,
const TransformationEstimation estimation,
int  ransac_n,
const std::vector< std::reference_wrapper< const CorrespondenceChecker >> &  checkers,
const RANSACConvergenceCriteria criteria 
)

Function for global RANSAC registration based on feature matching.