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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 
)
)