open3d.t.pipelines.registration.ICPConvergenceCriteria#

class open3d.t.pipelines.registration.ICPConvergenceCriteria#

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.t.pipelines.registration.ICPConvergenceCriteria, arg0: open3d.cpu.pybind.t.pipelines.registration.ICPConvergenceCriteria) -> None

Copy constructor

  1. __init__(self: open3d.cpu.pybind.t.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 inlier RMSE score is lower than relative_rmse, the iteration stops.