cloudViewer.pipelines.registration.registration_ransac_based_on_correspondence

cloudViewer.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, seed=None)

Function for global RANSAC registration based on a set of correspondences

Parameters:

• source (cloudViewer.geometry.ccPointCloud) – The source point cloud.

• target (cloudViewer.geometry.ccPointCloud) – The target point cloud.

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

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

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

• ransac_n (SupportsInt, optional, default=3) – Fit ransac with ransac_n correspondences

• checkers (collections.abc.Sequence[cloudViewer.pipelines.registration.CorrespondenceChecker], optional, default=[]) – Vector of Checker class to check if two point clouds can be aligned. One of (CorrespondenceCheckerBasedOnEdgeLength, CorrespondenceCheckerBasedOnDistance, CorrespondenceCheckerBasedOnNormal)

• criteria (cloudViewer.pipelines.registration.RANSACConvergenceCriteria, optional, default=RANSACConvergenceCriteria class with max_iteration=100000, and confidence=9.990000e-01) – Convergence criteria

• seed (Optional[SupportsInt], optional, default=None) –

Returns:

cloudViewer.pipelines.registration.RegistrationResult