Registration.cpp File Reference

(c3f9de2 (Tue Jun 1 15:34:27 2021 -0700))

#include "open3d/t/pipelines/registration/Registration.h"
#include "open3d/core/Tensor.h"
#include "open3d/core/nns/NearestNeighborSearch.h"
#include "open3d/t/geometry/PointCloud.h"
#include "open3d/utility/Console.h"
#include "open3d/utility/Helper.h"

Namespaces
	open3d
	open3d::t
	open3d::t::pipelines
	open3d::t::pipelines::registration

Functions
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::Float64, core::Device("CPU:0")))
	Function for evaluating registration between point clouds. More...
RegistrationResult	open3d::t::pipelines::registration::RegistrationICP (const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const core::Tensor &init_source_to_target=core::Tensor::Eye( 4, core::Dtype::Float64, core::Device("CPU:0")), const TransformationEstimation &estimation=TransformationEstimationPointToPoint(), const ICPConvergenceCriteria &criteria=ICPConvergenceCriteria())
	Functions for ICP registration. More...
RegistrationResult	open3d::t::pipelines::registration::RegistrationMultiScaleICP (const geometry::PointCloud &source, const geometry::PointCloud &target, const std::vector< double > &voxel_sizes, const std::vector< ICPConvergenceCriteria > &criteria_list, const std::vector< double > &max_correspondence_distances, const core::Tensor &init_source_to_target=core::Tensor::Eye( 4, core::Dtype::Float64, core::Device("CPU:0")), const TransformationEstimation &estimation=TransformationEstimationPointToPoint())
	Functions for Multi-Scale ICP registration. It will run ICP on different voxel level, from coarse to dense. The vector of ICPConvergenceCriteria(relative fitness, relative rmse, max_iterations) contains the stoping condition for each voxel level. The length of voxel_sizes vector, criteria vector, max_correspondence_distances vector must be same, and voxel_sizes must contain positive values in strictly decreasing order [Lower the voxel size, higher is the resolution]. Only the last value of the voxel_sizes vector can be {-1}, as it allows to run on the original scale without downsampling. More...