open3d.pipelines.registration.registration_ransac_based_on_correspondence

open3d.pipelines.registration.registration_ransac_based_on_correspondence(source, target, corres, max_correspondence_distance, estimation_method=TransformationEstimationPointToPoint without scaling., ransac_n=6, criteria=RANSACConvergenceCriteria class with max_iteration=1000, and max_validation=1000)

Function for global RANSAC registration based on a set of correspondences

Parameters

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

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

  • corres (open3d.cpu.pybind.utility.Vector2iVector) – o3d.utility.Vector2iVector that stores indices of corresponding point or feature arrays.

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

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

  • ransac_n (int, optional, default=6) – Fit ransac with ransac_n correspondences

  • criteria (open3d.cpu.pybind.pipelines.registration.RANSACConvergenceCriteria, optional, default=RANSACConvergenceCriteria class with max_iteration=1000, and max_validation=1000) – Convergence criteria

Returns

open3d.cpu.pybind.pipelines.registration.RegistrationResult