open3d.registration.registration_ransac_based_on_feature_matching

open3d.registration.registration_ransac_based_on_feature_matching(source, target, source_feature, target_feature, max_correspondence_distance, estimation_method=pipelines::registration::TransformationEstimationPointToPoint without scaling., ransac_n=4, checkers=[], criteria=pipelines::registration::RANSACConvergenceCriteria class with max_iteration=100000, and max_validation=100)

Function for global RANSAC registration based on feature matching

Parameters

  • source (open3d.geometry.PointCloud) – The source point cloud.

  • target (open3d.geometry.PointCloud) – The target point cloud.

  • source_feature (open3d.pipelines.registration.Feature) – Source point cloud feature.

  • target_feature (open3d.pipelines.registration.Feature) – Target point cloud feature.

  • max_correspondence_distance (float) – Maximum correspondence points-pair distance.

  • estimation_method (open3d.registration.TransformationEstimation, optional, default=pipelines::registration::TransformationEstimationPointToPoint without scaling.) – Estimation method. One of (pipelines::registration::TransformationEstimationPointToPoint, pipelines::registration::TransformationEstimationPointToPlane)

  • ransac_n (int, optional, default=4) – Fit ransac with ransac_n correspondences

  • checkers (List[open3d.registration.CorrespondenceChecker], optional, default=[]) – checkers

  • criteria (open3d.registration.RANSACConvergenceCriteria, optional, default=pipelines::registration::RANSACConvergenceCriteria class with max_iteration=100000, and max_validation=100) – Convergence criteria

Returns

open3d.registration.RegistrationResult