open3d.pipelines.registration.RANSACConvergenceCriteria#
- 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 someconfidence
. Early termination takes place when the number of iterations reachesk = log(1 - confidence)/log(1 - fitness^{ransac_n})
, whereransac_n
is the number of points used during a ransac iteration. Use confidence=1.0 to avoid early termination.- __init__(*args, **kwargs)#
Overloaded function.
__init__(self: open3d.cpu.pybind.pipelines.registration.RANSACConvergenceCriteria, arg0: open3d.cpu.pybind.pipelines.registration.RANSACConvergenceCriteria) -> None
Copy constructor
__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. Use 1.0 to avoid early termination.
- property max_iteration#
Maximum iteration before iteration stops.