open3d.pipelines.registration.registration_ransac_based_on_feature_matching

open3d.pipelines.registration.registration_ransac_based_on_feature_matching(source, target, source_feature, target_feature, mutual_filter, max_correspondence_distance, estimation_method=TransformationEstimationPointToPoint without scaling., ransac_n=3, checkers=[], criteria=RANSACConvergenceCriteria class with max_iteration=100000, and confidence=9.990000e-01, seed=None)

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.

  • mutual_filter (bool) – Enables mutual filter such that the correspondence of the source point’s correspondence is itself.

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

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

  • ransac_n (int, optional, default=3) – Fit ransac with ransac_n correspondences

  • checkers (List[open3d.pipelines.registration.CorrespondenceChecker], optional, default=[]) – Vector of Checker class to check if two point clouds can be aligned. One of (CorrespondenceCheckerBasedOnEdgeLength, CorrespondenceCheckerBasedOnDistance, CorrespondenceCheckerBasedOnNormal)

  • criteria (open3d.pipelines.registration.RANSACConvergenceCriteria, optional, default=RANSACConvergenceCriteria class with max_iteration=100000, and confidence=9.990000e-01) – Convergence criteria

  • seed (Optional[int], optional, default=None) – Random seed.

Returns

open3d.pipelines.registration.RegistrationResult