(22a6a30 (Wed Aug 19 17:56:52 2026 -0700))

#include "open3d/pipelines/registration/NormalDistributionsTransform.h"
#include <tbb/blocked_range.h>
#include <tbb/parallel_reduce.h>
#include <Eigen/Dense>
#include <algorithm>
#include <array>
#include <cmath>
#include <cstdint>
#include <limits>
#include <tuple>
#include <unordered_map>
#include <vector>
#include "open3d/geometry/PointCloud.h"
#include "open3d/utility/Eigen.h"
#include "open3d/utility/Helper.h"
#include "open3d/utility/Logging.h"
#include "open3d/utility/Parallel.h"

Namespaces
namespace	open3d

namespace	open3d::pipelines

namespace	open3d::pipelines::registration

Functions
RegistrationResult	open3d::pipelines::registration::RegistrationNDT (const geometry::PointCloud &source, const geometry::PointCloud &target, const NormalDistributionsTransformOption &option=NormalDistributionsTransformOption(), const Eigen::Matrix4d &init=Eigen::Matrix4d::Identity())
	Function for 3D Normal Distributions Transform registration.

Variable Documentation

◆ correspondence_count

int correspondence_count = 0

◆ correspondences

CorrespondenceSet correspondences

◆ count

int count = 0

◆ covariance_accumulator

Eigen::Matrix3d covariance_accumulator = Eigen::Matrix3d::Zero()

◆ euclidean_error2

double euclidean_error2 = 0.0

◆ information

Eigen::Matrix3d information = Eigen::Matrix3d::Zero()

◆ inv_voxel_size

double inv_voxel_size

◆ JTJ

Eigen::Matrix6d JTJ = Eigen::Matrix6d::Zero()

◆ JTr

Eigen::Vector6d JTr = Eigen::Vector6d::Zero()

◆ mean

Eigen::Vector3d mean = Eigen::Vector3d::Zero()

◆ offset_count

std::size_t offset_count

◆ offsets

const NeighborOffsets& offsets

◆ outlier_threshold

double outlier_threshold

◆ point_indices

std::vector<int> point_indices

◆ representative_index

int representative_index = -1

◆ residual2

double residual2 = 0.0

◆ residual_count

int residual_count = 0

◆ source_transformed

const geometry::PointCloud& source_transformed

◆ system

NDTLinearSystem system

◆ target

const geometry::PointCloud& target

◆ voxel_map

const VoxelMap& voxel_map

◆ x

std::int64_t x

◆ y

std::int64_t y

◆ z

std::int64_t z