registration_with_ransac_from_correspondences

[Sucasx]

Should the value of num_iterations be set to 1000 or 50K?

def registration_with_ransac_from_correspondences(
    src_points,
    ref_points,
    correspondences=None,
    distance_threshold=0.05,
    ransac_n=3,
    num_iterations=10000,
):
    r"""
    Compute the transformation matrix from src_points to ref_points
    """
    src_pcd = make_open3d_point_cloud(src_points)
    ref_pcd = make_open3d_point_cloud(ref_points)

    if correspondences is None:
        indices = np.arange(src_points.shape[0])
        correspondences = np.stack([indices, indices], axis=1)
    correspondences = o3d.utility.Vector2iVector(correspondences)

    result = o3d.pipelines.registration.registration_ransac_based_on_correspondence(
        src_pcd,
        ref_pcd,
        correspondences,
        distance_threshold,
        estimation_method=o3d.pipelines.registration.TransformationEstimationPointToPoint(False),
        ransac_n=ransac_n,
        criteria=o3d.pipelines.registration.RANSACConvergenceCriteria(num_iterations, num_iterations),
    )

    return result.transformation