Question about ransac pose estimation

[Ericgeese]

Hello, I very appreciate your excellent work.
I have some confusion about ransac_pose_estimation_correspondences in lib/tester.py when reading your code
I find checkers in o3d.registration.registration_ransac_based_on_correspondence can speed up code compared with settings without checkers
I also find checkers is only used in o3d.registration.registration_ransac_based_on_feature_matching in OverlapPredator Code.
I am curious about how this setting works?

[haoyu94]

Hi, thanks for your interest.

Tbh I also didn't go deep into the definition of checkers. But I check my code and the code of Predator. Both use the same checkers. Note that our advantage is that our method directly outputs correspondences. But for predatore, you need to do matching in your ransac. So we are in principle faster then Predator regarding the RANSAC procedure.

[Ericgeese]

Thanks for your explanation.