open3d.pipelines.registration.registration_ransac_based_on_feature_matching

open3d.pipelines.registration.registration_ransac_based_on_feature_matching(source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud, source_feature: open3d.pipelines.registration.Feature, target_feature: open3d.pipelines.registration.Feature, mutual_filter: bool, max_correspondence_distance: float, estimation_method: open3d.pipelines.registration.TransformationEstimation = TransformationEstimationPointToPoint(with_scaling=False), ransac_n: int = 3, checkers: list[open3d.pipelines.registration.CorrespondenceChecker] = [], criteria: open3d.pipelines.registration.RANSACConvergenceCriteria = RANSACConvergenceCriteria(max_iteration=100000, confidence=9.990000e-01)) → open3d.pipelines.registration.RegistrationResult

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(with_scaling=False)) – 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(max_iteration=100000, confidence=9.990000e-01)) – Convergence criteria

Returns:

open3d.pipelines.registration.RegistrationResult