cloudViewer.pipelines.registration.registration_ransac_based_on_feature_matching#

cloudViewer.pipelines.registration.registration_ransac_based_on_feature_matching(source, target, source_feature, target_feature, mutual_filter, 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 feature matching

Parameters:

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

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

  • source_feature (cloudViewer::utility::Feature) – Source point cloud feature.

  • target_feature (cloudViewer::utility::Feature) – Target point cloud feature.

  • mutual_filter (bool) – Enables mutual filter such that the correspondence of the source point’s correspondence is itself.

  • 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