open3d.pipelines.registration.ICPConvergenceCriteria

class open3d.pipelines.registration.ICPConvergenceCriteria

Class that defines the convergence criteria of ICP. ICP algorithm stops if the relative change of fitness and rmse hit relative_fitness and relative_rmse individually, or the iteration number exceeds max_iteration.

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: open3d.cpu.pybind.pipelines.registration.ICPConvergenceCriteria, arg0: open3d.cpu.pybind.pipelines.registration.ICPConvergenceCriteria) -> None

Copy constructor

2. __init__(self: open3d.cpu.pybind.pipelines.registration.ICPConvergenceCriteria, relative_fitness: float = 1e-06, relative_rmse: float = 1e-06, max_iteration: int = 30) -> None

property max_iteration

Maximum iteration before iteration stops.

property relative_fitness

If relative change (difference) of fitness score is lower than relative_fitness, the iteration stops.

property relative_rmse

If relative change (difference) of inliner RMSE score is lower than relative_rmse, the iteration stops.