open3d.registration.registration_ransac_based_on_correspondence¶
-
open3d.registration.
registration_ransac_based_on_correspondence
(source, target, corres, max_correspondence_distance, estimation_method=registration::TransformationEstimationPointToPoint without scaling., ransac_n=6, criteria=registration::RANSACConvergenceCriteria class with max_iteration = 1000, and max_validation = 1000)¶ Function for global RANSAC registration based on a set of correspondences
- Parameters
source (open3d.geometry.PointCloud) – The source point cloud.
target (open3d.geometry.PointCloud) – The target point cloud.
corres (open3d.utility.Vector2iVector) – Checker class to check if two point clouds can be aligned. One of (
registration::CorrespondenceCheckerBasedOnEdgeLength
,registration::CorrespondenceCheckerBasedOnDistance
,registration::CorrespondenceCheckerBasedOnNormal
)max_correspondence_distance (float) – Maximum correspondence points-pair distance.
estimation_method (open3d.registration.TransformationEstimation, optional, default=registration::TransformationEstimationPointToPoint without scaling.) – Estimation method. One of (
registration::TransformationEstimationPointToPoint
,registration::TransformationEstimationPointToPlane
)ransac_n (int, optional, default=6) – Fit ransac with
ransac_n
correspondencescriteria (open3d.registration.RANSACConvergenceCriteria, optional, default=registration::RANSACConvergenceCriteria class with max_iteration = 1000, and max_validation = 1000) – Convergence criteria
- Returns
open3d.registration.RegistrationResult