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Yes it does : # Compute a rigid transformation (without depth, only scale + rotation + translation) transformation_rigid_matrix, rigid_mask = cv2.estimateAffinePartial2D(src_pts, dst_pts)

Yes it does :

 # Compute a rigid transformation (without depth, only scale + rotation + translation)
 transformation_rigid_matrix, rigid_mask = cv2.estimateAffinePartial2D(src_pts, dst_pts)
dst_pts)

Yes it does :

    # Compute a rigid transformation (without depth, only scale + rotation + translation)
    transformation_rigid_matrix, rigid_mask = cv2.estimateAffinePartial2D(src_pts, dst_pts)

Yes it does :

    # Compute a rigid transformation (without depth, only scale + rotation + translation)
    transformation_rigid_matrix, rigid_mask = cv2.estimateAffinePartial2D(src_pts, dst_pts)

It is RANSAC based, as you can see there : https://docs.opencv.org/4.0.0/d9/d0c/group__calib3d.html#gad767faff73e9cbd8b9d92b955b50062d

estimateAffinePartial2D ( 
 
InputArray from,
InputArray to,
OutputArray inliers = noArray(),
int method = RANSAC,
double ransacReprojThreshold = 3,
size_t maxIters = 2000,
double confidence = 0.99,
size_t refineIters = 10
)
)