Registration

open3d.registration
class open3d.registration.ColorMapOptimizationOption
depth_threshold_for_discontinuity_check
depth_threshold_for_visiblity_check
half_dilation_kernel_size_for_discontinuity_map
image_boundary_margin
maximum_allowable_depth
maximum_iteration
non_rigid_anchor_point_weight
non_rigid_camera_coordinate
number_of_vertical_anchors
class open3d.registration.CorrespondenceChecker
Check(self: open3d.registration.CorrespondenceChecker, arg0: open3d.geometry.PointCloud, arg1: open3d.geometry.PointCloud, arg2: open3d.Vector2iVector, arg3: numpy.ndarray[float64[4, 4]]) → bool
class open3d.registration.CorrespondenceCheckerBasedOnDistance
distance_threshold
class open3d.registration.CorrespondenceCheckerBasedOnEdgeLength
similarity_threshold
class open3d.registration.CorrespondenceCheckerBasedOnNormal
normal_angle_threshold
class open3d.registration.FastGlobalRegistrationOption
decrease_mu
division_factor
iteration_number
maximum_correspondence_distance
maximum_tuple_count
tuple_scale
use_absolute_scale
class open3d.registration.Feature
data
dimension(self: open3d.registration.Feature) → int
num(self: open3d.registration.Feature) → int
resize(self: open3d.registration.Feature, dim: int, n: int) → None
class open3d.registration.GlobalOptimizationConvergenceCriteria
lower_scale_factor
max_iteration
max_iteration_lm
min_relative_increment
min_relative_residual_increment
min_residual
min_right_term
upper_scale_factor
class open3d.registration.GlobalOptimizationGaussNewton
class open3d.registration.GlobalOptimizationLevenbergMarquardt
class open3d.registration.GlobalOptimizationMethod
OptimizePoseGraph(self: open3d.registration.GlobalOptimizationMethod, arg0: open3d.registration.PoseGraph, arg1: open3d::GlobalOptimizationConvergenceCriteria, arg2: open3d::GlobalOptimizationOption) → None
class open3d.registration.GlobalOptimizationOption
edge_prune_threshold
max_correspondence_distance
preference_loop_closure
reference_node
class open3d.registration.ICPConvergenceCriteria
max_iteration
relative_fitness
relative_rmse
class open3d.registration.PoseGraph
edges
nodes
class open3d.registration.PoseGraphEdge
confidence
information
source_node_id
target_node_id
transformation
uncertain
class open3d.registration.PoseGraphEdgeVector
append(self: open3d.registration.PoseGraphEdgeVector, x: open3d.registration.PoseGraphEdge) → None

Add an item to the end of the list

extend(self: open3d.registration.PoseGraphEdgeVector, L: open3d.registration.PoseGraphEdgeVector) → None

Extend the list by appending all the items in the given list

insert(self: open3d.registration.PoseGraphEdgeVector, i: int, x: open3d.registration.PoseGraphEdge) → None

Insert an item at a given position.

pop(*args, **kwargs)

Overloaded function.

  1. pop(self: open3d.registration.PoseGraphEdgeVector) -> open3d.registration.PoseGraphEdge

Remove and return the last item

  1. pop(self: open3d.registration.PoseGraphEdgeVector, i: int) -> open3d.registration.PoseGraphEdge

Remove and return the item at index i

class open3d.registration.PoseGraphNode
pose
class open3d.registration.PoseGraphNodeVector
append(self: open3d.registration.PoseGraphNodeVector, x: open3d.registration.PoseGraphNode) → None

Add an item to the end of the list

extend(self: open3d.registration.PoseGraphNodeVector, L: open3d.registration.PoseGraphNodeVector) → None

Extend the list by appending all the items in the given list

insert(self: open3d.registration.PoseGraphNodeVector, i: int, x: open3d.registration.PoseGraphNode) → None

Insert an item at a given position.

pop(*args, **kwargs)

Overloaded function.

  1. pop(self: open3d.registration.PoseGraphNodeVector) -> open3d.registration.PoseGraphNode

Remove and return the last item

  1. pop(self: open3d.registration.PoseGraphNodeVector, i: int) -> open3d.registration.PoseGraphNode

Remove and return the item at index i

class open3d.registration.RANSACConvergenceCriteria
max_iteration
max_validation
class open3d.registration.RegistrationResult
correspondence_set
fitness
inlier_rmse
transformation
class open3d.registration.TransformationEstimation
compute_rmse(self: open3d.registration.TransformationEstimation, arg0: open3d.geometry.PointCloud, arg1: open3d.geometry.PointCloud, arg2: open3d.Vector2iVector) → float
compute_transformation(self: open3d.registration.TransformationEstimation, arg0: open3d.geometry.PointCloud, arg1: open3d.geometry.PointCloud, arg2: open3d.Vector2iVector) → numpy.ndarray[float64[4, 4]]
class open3d.registration.TransformationEstimationPointToPlane
class open3d.registration.TransformationEstimationPointToPoint
with_scaling
open3d.registration.color_map_optimization()

color_map_optimization(mesh: open3d.geometry.TriangleMesh, imgs_rgbd: List[open3d.geometry.RGBDImage], camera: open3d.camera.PinholeCameraTrajectory, option: open3d.registration.ColorMapOptimizationOption=ColorMapOptimizationOption with - non_rigid_camera_coordinate : 0 - number_of_vertical_anchors : 16 - non_rigid_anchor_point_weight : 0.316000 - maximum_iteration : 300 - maximum_allowable_depth : 2.500000 - depth_threshold_for_visiblity_check : 0.030000 - depth_threshold_for_discontinuity_check : 0.100000 - half_dilation_kernel_size_for_discontinuity_map : 3 - image_boundary_margin : 10) -> None

Function for color mapping of reconstructed scenes via optimization

open3d.registration.compute_fpfh_feature(input: open3d.geometry.PointCloud, search_param: open3d.geometry.KDTreeSearchParam) → open3d.registration.Feature

Function to compute FPFH feature for a point cloud

open3d.registration.evaluate_registration()
evaluate_registration(source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, max_correspondence_distance: float, transformation: numpy.ndarray[float64[4, 4]]=array([[1., 0., 0., 0.],
[0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]])) -> open3d.registration.RegistrationResult

Function for evaluating registration between point clouds

open3d.registration.get_information_matrix_from_point_clouds(source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, max_correspondence_distance: float, transformation_result: numpy.ndarray[float64[4, 4]]) → numpy.ndarray[float64[6, 6]]

Function for computing information matrix from RegistrationResult

open3d.registration.global_optimization(pose_graph: open3d.registration.PoseGraph, method: open3d.registration.GlobalOptimizationMethod, criteria: open3d.registration.GlobalOptimizationConvergenceCriteria, option: open3d.registration.GlobalOptimizationOption) → None

Function to optimize PoseGraph

open3d.registration.read_feature(filename: str) → open3d.registration.Feature

Function to read Feature from file

open3d.registration.read_pose_graph(filename: str) → open3d.registration.PoseGraph

Function to read PoseGraph from file

open3d.registration.registration_colored_icp()
registration_colored_icp(source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, max_correspondence_distance: float, init: numpy.ndarray[float64[4, 4]]=array([[1., 0., 0., 0.],
[0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), criteria: open3d.registration.ICPConvergenceCriteria=ICPConvergenceCriteria class with relative_fitness = 0.000001, relative_rmse = 0.000001, and max_iteration = 30, lambda_geometric: float=0.968) -> open3d.registration.RegistrationResult

Function for Colored ICP registration

open3d.registration.registration_fast_based_on_feature_matching()

registration_fast_based_on_feature_matching(source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, source_feature: open3d.registration.Feature, target_feature: open3d.registration.Feature, option: open3d.registration.FastGlobalRegistrationOption=FastGlobalRegistrationOption class with division_factor = 1.400000 use_absolute_scale = 0 decrease_mu = 1 maximum_correspondence_distance = 0.025000 iteration_number = 64 tuple_scale = 0.950000 maximum_tuple_count = 1000) -> open3d.registration.RegistrationResult

Function for fast global registration based on feature matching

open3d.registration.registration_icp()
registration_icp(source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, max_correspondence_distance: float, init: numpy.ndarray[float64[4, 4]]=array([[1., 0., 0., 0.],
[0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), estimation_method: open3d.registration.TransformationEstimation=TransformationEstimationPointToPoint without scaling., criteria: open3d.registration.ICPConvergenceCriteria=ICPConvergenceCriteria class with relative_fitness = 0.000001, relative_rmse = 0.000001, and max_iteration = 30) -> open3d.registration.RegistrationResult

Function for ICP registration

open3d.registration.registration_ransac_based_on_correspondence(source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, corres: open3d.Vector2iVector, max_correspondence_distance: float, estimation_method: open3d.registration.TransformationEstimation=TransformationEstimationPointToPoint without scaling., ransac_n: int=6, criteria: open3d.registration.RANSACConvergenceCriteria=RANSACConvergenceCriteria class with max_iteration = 1000, and max_validation = 1000) → open3d.registration.RegistrationResult

Function for global RANSAC registration based on a set of correspondences

open3d.registration.registration_ransac_based_on_feature_matching(source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, source_feature: open3d.registration.Feature, target_feature: open3d.registration.Feature, max_correspondence_distance: float, estimation_method: open3d.registration.TransformationEstimation=TransformationEstimationPointToPoint without scaling., ransac_n: int=4, checkers: List[open3d.registration.CorrespondenceChecker]=[], criteria: open3d.registration.RANSACConvergenceCriteria=RANSACConvergenceCriteria class with max_iteration = 100000, and max_validation = 100) → open3d.registration.RegistrationResult

Function for global RANSAC registration based on feature matching

open3d.registration.write_feature(filename: str, feature: open3d.registration.Feature) → bool

Function to write Feature to file

open3d.registration.write_pose_graph(filename: str, pose_graph: open3d.registration.PoseGraph) → None

Function to write PoseGraph to file