registration_ransac_based_on_feature_matching 不能是确定性的

def preprocess_point_cloud(pcd, voxel_size): print(":: Downsample with a voxel size %.3f." % voxel_size) pcd_down = pcd.voxel_down_sample(voxel_size) radius_normal = voxel_size * 2 print(":: Estimate normal with search radius %.3f." % radius_normal) pcd_down.estimate_normals( o3d.geometry.KDTreeSearchParamHybrid(radius=radius_normal, max_nn=30) ) radius_feature = voxel_size * 5 print(":: Compute FPFH feature with search radius %.3f." % radius_feature) pcd_fpfh = o3d.pipelines.registration.compute_fpfh_feature( pcd_down, o3d.geometry.KDTreeSearchParamHybrid(radius=radius_feature, max_nn=100) ) return pcd_down, pcd_fpfh