EstimateAffine3DTransform


Computes optimal affine transformation between two 3D point sets.

Syntax

C++
C#
Python
 
def EstimateAffine3DTransform(
	inSrcpt: list[Point3D],
	inDstpt: list[Point3D],
	inRansacThreshold: float,
	inConfidence: float,
	outTransform: Matrix,
	/
)
-> (
	outOutliers: list[int],
	outValue: int
)

Parameters

Name Type Range Default Description
Input value inSrcpt list[Point3D] List of 3D points in the source coordinate system.
Input value inDstpt list[Point3D] List of 3D points in the destination coordinate system.
Input value inRansacThreshold float Maximum reprojection error in the RANSAC algorithm to consider a point as an inlier.
Input value inConfidence float 0.0 - 1.0 Confidence level, between 0 and 1, for the estimated transformation. Anything between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
Output value outTransform Matrix Estimated affine transformation matrix.
Output value outOutliers list[int] Output vector indicating which points are outliers (1-inlier, 0-outlier).
Output value outValue int