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=3, checkers=[], criteria=RANSACConvergenceCriteria class with max_iteration=100000, and confidence=9.990000e-01)#

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) – o3d.utility.Vector2iVector that stores indices of corresponding point or feature arrays.

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

  • estimation_method (open3d.pipelines.registration.TransformationEstimation, optional, default=TransformationEstimationPointToPoint without scaling.) – 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 class with max_iteration=100000, and confidence=9.990000e-01) – Convergence criteria

Returns:

open3d.pipelines.registration.RegistrationResult