open3d.pipelines.registration.CorrespondenceChecker

class open3d.pipelines.registration.CorrespondenceChecker

Base class that checks if two (small) point clouds can be aligned. This class is used in feature based matching algorithms (such as RANSAC and FastGlobalRegistration) to prune out outlier correspondences. The virtual function Check() must be implemented in subclasses.

Check(self, source, target, corres, transformation)

Function to check if two points can be aligned. The two input point clouds must have exact the same number of points.

Parameters:

• source (open3d.geometry.PointCloud) – Source point cloud.

• target (open3d.geometry.PointCloud) – Target point cloud.

• corres (open3d.utility.Vector2iVector) – Correspondence set between source and target point cloud.

• transformation (numpy.ndarray[numpy.float64[4, 4]]) – The estimated transformation (inplace).

Returns:

bool

__init__(*args, **kwargs)

property require_pointcloud_alignment_

Some checkers do not require point clouds to be aligned, e.g., the edge length checker. Some checkers do, e.g., the distance checker.