You can first sample mesh_a/b to point cloud and do registration or directly get mesh vertex as point cloud from mesh data. The rest of the work is the same as in case one. Here are the example of situation two. import copy import numpy as np import open3d as o3d def draw_registration_result (source, target, transformation): source_temp = copy .... 2021. 7. 24. · Example 2 - Spherical RANSAC. Loading a noisy sphere's point cloud with r = 5 centered in 0 we can use the following code: import pyransac3d as pyrsc points = load_points(.) # Load your point cloud as a numpy array (N, 3) sph = pyrsc.Sphere() center, radius, inliers =, thresh=0.4) Results:. "/>Open3d ransac