class open3d.pipelines.registration.RANSACConvergenceCriteria

Class that defines the convergence criteria of RANSAC. RANSAC algorithm stops if the iteration number hits max_iteration, or the fitness measured during validation suggests that the algorithm can be terminated early with some confidence. Early termination takes place when the number of iterations reaches k = log(1 - confidence)/log(1 - fitness^{ransac_n}), where ransac_n is the number of points used during a ransac iteration. Note that the validation is the most computational expensive operator in an iteration. Most iterations do not do full validation. It is crucial to control confidence so that the computation time is acceptable.

__init__(*args, **kwargs)

Overloaded function.

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

Copy constructor

  1. __init__(self: open3d.cpu.pybind.pipelines.registration.RANSACConvergenceCriteria, max_iteration: int = 100000, confidence: float = 0.999) -> None

property confidence

Desired probability of success. Used for estimating early termination.

property max_iteration

Maximum iteration before iteration stops.