# 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. TransformationEstimationForColoredICP Class to estimate a transformation between two point clouds using color information 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 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 Function for fast global registration based on feature matching registration_icp(source, target, …[, …]) Function for ICP registration Function for global RANSAC registration based on a set of correspondences Function for global RANSAC registration based on feature matching