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< Feature >	ComputeFPFHFeature (const geometry::PointCloud &input, const geometry::KDTreeSearchParam &search_param=geometry::KDTreeSearchParamKNN())
	Function to compute FPFH feature for a point cloud. More...

std::shared_ptr< PoseGraph >	CreatePoseGraphWithoutInvalidEdges (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

enum open3d::registration::TransformationEstimationType

strong

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.

Data Structures

Typedefs

Enumerations

Functions