# estgeotform3d

Estimate 3-D geometric transformation from matching point pairs

## Syntax

## Description

estimates a 3-D geometric transformation between two sets of 3-D points by mapping the
inliers in the matched points from one set of 3-D points
`tform`

= estgeotform3d(`matchedPoints1`

,`matchedPoints2`

,`transformType`

)`matchedPoints1`

to the inliers in the matched points from the other
set of 3-D points `matchedPoints2`

.

`[`

additionally returns a vector specifying each matched point pair as either an inlier or an
outlier using the input arguments from the previous syntax.`tform`

,`inlierIndex`

]
= estgeotform3d(___)

`[`

additionally returns a status code indicating whether or not the function could estimate a
transformation and, if not, why it failed. If you do not specify the
`tform`

,`inlierIndex`

,`status`

] = estgeotform3d(___)`status`

output, the function instead returns an error for conditions
that cannot produce results.

`[___] = estgeotform3d(___,`

specifies additional options using one or more name-value arguments in addition to any
combination of arguments from previous syntaxes. For example,
`Name,Value`

)`Confidence=99`

sets the confidence value for finding the maximum
number of inliers to `99`

.

## Examples

## Input Arguments

## Output Arguments

## Algorithms

The function excludes outliers using the M-estimator sample consensus (MSAC) algorithm. The MSAC algorithm is a variant of the random sample consensus (RANSAC) algorithm. Results may not be identical between runs due to the randomized nature of the MSAC algorithm.

## References

[1]

[2]

## Extended Capabilities

## Version History

**Introduced in R2022b**