Registration.cpp File Reference

(d32b4fc (Mon Sep 14 15:46:25 2026 -0700))

#include "open3d/pipelines/registration/Registration.h"
#include <tbb/blocked_range.h>
#include <tbb/parallel_reduce.h>
#include "open3d/geometry/KDTreeFlann.h"
#include "open3d/geometry/PointCloud.h"
#include "open3d/pipelines/registration/Feature.h"
#include "open3d/utility/Logging.h"
#include "open3d/utility/Parallel.h"
#include "open3d/utility/Random.h"

Data Structures
struct	open3d::pipelines::registration::RegistrationReduction
struct	open3d::pipelines::registration::RANSACCorrespondenceReduction
struct	open3d::pipelines::registration::InformationMatrixReducer

Namespaces
namespace	open3d
namespace	open3d::pipelines
namespace	open3d::pipelines::registration

Functions
RegistrationResult	open3d::pipelines::registration::EvaluateRegistration (const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &transformation=Eigen::Matrix4d::Identity())
	Function for evaluating registration between point clouds.
RegistrationResult	open3d::pipelines::registration::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.
template<typename T >
void	open3d::pipelines::registration::atomic_min (std::atomic< T > &min_val, const T &val) noexcept
RegistrationResult	open3d::pipelines::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=3, const std::vector< std::reference_wrapper< const CorrespondenceChecker > > &checkers={}, const RANSACConvergenceCriteria &criteria=RANSACConvergenceCriteria())
	Function for global RANSAC registration based on a given set of correspondences.
RegistrationResult	open3d::pipelines::registration::RegistrationRANSACBasedOnFeatureMatching (const geometry::PointCloud &source, const geometry::PointCloud &target, const Feature &source_features, const Feature &target_features, bool mutual_filter, double max_correspondence_distance, const TransformationEstimation &estimation=TransformationEstimationPointToPoint(false), int ransac_n=3, const std::vector< std::reference_wrapper< const CorrespondenceChecker > > &checkers={}, const RANSACConvergenceCriteria &criteria=RANSACConvergenceCriteria())
	Function for global RANSAC registration based on feature matching.
Eigen::Matrix6d	open3d::pipelines::registration::GetInformationMatrixFromPointClouds (const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &transformation)