open3d::t::pipelines::registration Namespace Reference

Data Structures
class	ICPConvergenceCriteria
	Class that defines the convergence criteria of ICP. More...
class	RegistrationResult
class	TransformationEstimation
class	TransformationEstimationPointToPlane
class	TransformationEstimationPointToPoint

Typedefs
typedef std::pair< core::Tensor, core::Tensor >	CorrespondenceSet

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

Functions
RegistrationResult	EvaluateRegistration (const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const core::Tensor &transformation=core::Tensor::Eye( 4, core::Dtype::Float32, core::Device("CPU:0")))
	Function for evaluating registration between point clouds. More...
RegistrationResult	RegistrationICP (const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const core::Tensor &init, const TransformationEstimation &estimation=TransformationEstimationPointToPoint(), const ICPConvergenceCriteria &criteria=ICPConvergenceCriteria())
	Functions for ICP registration. More...

Typedef Documentation

CorrespondenceSet

typedef std::pair<core::Tensor, core::Tensor> open3d::t::pipelines::registration::CorrespondenceSet

CorrespondenceSet is a pair of tensor, where first tensor [correspondence_select_bool_] is a {N,1} bool tensor (N is the number of query points), with value true for source points having good correspondence, and false otherwise, and second [correspondence_set_] is a {C,1} shape Float32 tensor (C is the number of good correspondences), where value at [i, 1] is the corresponding index in the target, for query point [i, 1].

Enumeration Type Documentation

TransformationEstimationType

enum open3d::t::pipelines::registration::TransformationEstimationType

strong

Enumerator
Unspecified
PointToPoint
PointToPlane
ColoredICP

Function Documentation

EvaluateRegistration()

RegistrationResult open3d::t::pipelines::registration::EvaluateRegistration	(	const geometry::PointCloud &	source,
		const geometry::PointCloud &	target,
		double	max_correspondence_distance,
		const core::Tensor &	transformation = core::Tensor::Eye( 4, core::Dtype::Float32, core::Device("CPU:0"))
	)

Function for evaluating registration between point clouds.

Parameters

source	The source point cloud.
target	The target point cloud.
max_correspondence_distance	Maximum correspondence points-pair distance.
transformation	The 4x4 transformation matrix to transform source to target.

RegistrationICP()

RegistrationResult open3d::t::pipelines::registration::RegistrationICP	(	const geometry::PointCloud &	source,
		const geometry::PointCloud &	target,
		double	max_correspondence_distance,
		const core::Tensor &	init,
		const TransformationEstimation &	estimation = TransformationEstimationPointToPoint(),
		const ICPConvergenceCriteria &	criteria = ICPConvergenceCriteria()
	)

Functions for ICP registration.

Parameters

source	The source point cloud.
target	The target point cloud.
max_correspondence_distance	Maximum correspondence points-pair distance.
init	Initial transformation estimation.
estimation	Estimation method.
criteria	Convergence criteria.