open3d.t.pipelines.registration.correspondences_from_features#

open3d.t.pipelines.registration.correspondences_from_features(source_features: open3d.core.Tensor, target_features: open3d.core.Tensor, mutual_filter: bool = False, mutual_consistency_ratio: float = 0.10000000149011612) → open3d.core.Tensor#

Function to query nearest neighbors of source_features in target_features.

Parameters:

  • source_features (open3d.core.Tensor) – The source features in shape (N, dim).

  • target_features (open3d.core.Tensor) – The target features in shape (M, dim).

  • mutual_filter (bool, optional, default=False) – filter correspondences and return the collection of (i, j) s.t. source_features[i] and target_features[j] are mutually the nearest neighbor.

  • mutual_consistency_ratio (float, optional, default=0.10000000149011612) – Threshold to decide whether the number of filtered correspondences is sufficient. Only used when mutual_filter is enabled.

Returns:

open3d.core.Tensor