Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for main branch).

Describe the issue

I use registration_ransac_based_on_feature_matching to do a RANSAC registration, withou the checkers parameter, the validation times is not correct.

Steps to reproduce the bug

o3d.pipelines.registration.registration_ransac_based_on_feature_matching(
    o3dsp,o3dtp,o3dsp_fpfh,o3dtp_fpfh,
    mutual_filter=False, max_correspondence_distance=3 * 1.5, 
    estimation_method=o3d.pipelines.registration.TransformationEstimationPointToPoint(False),
    ransac_n=3,
    checkers=[],
    criteria=o3d.pipelines.registration.RANSACConvergenceCriteria(1000000, 1))

Error message

[Open3D DEBUG] Thread 000000: registration fitness=0.292, corres inlier ratio=0.013, Est. max k = inf
[Open3D DEBUG] Thread 187500: registration fitness=0.375, corres inlier ratio=0.001, Est. max k = inf
[Open3D DEBUG] Thread 750000: registration fitness=0.393, corres inlier ratio=0.003, Est. max k = inf
[Open3D DEBUG] Thread 375000: registration fitness=0.318, corres inlier ratio=0.000, Est. max k = -inf
[Open3D DEBUG] Thread 562500: registration fitness=0.176, corres inlier ratio=0.002, Est. max k = inf
[Open3D DEBUG] Thread 937500: registration fitness=0.332, corres inlier ratio=0.002, Est. max k = inf
[Open3D DEBUG] Thread 1125000: registration fitness=0.372, corres inlier ratio=0.001, Est. max k = inf
[Open3D DEBUG] Thread 1500000: registration fitness=0.270, corres inlier ratio=0.012, Est. max k = inf
[Open3D DEBUG] Thread 1312500: registration fitness=0.222, corres inlier ratio=0.005, Est. max k = inf
[Open3D DEBUG] Thread 1687500: registration fitness=0.339, corres inlier ratio=0.002, Est. max k = inf
[Open3D DEBUG] Thread 2062500: registration fitness=0.150, corres inlier ratio=0.003, Est. max k = inf
[Open3D DEBUG] Thread 1875000: registration fitness=0.274, corres inlier ratio=0.006, Est. max k = inf
[Open3D DEBUG] Thread 2437500: registration fitness=0.240, corres inlier ratio=0.002, Est. max k = inf
[Open3D DEBUG] Thread 2250000: registration fitness=0.248, corres inlier ratio=0.009, Est. max k = inf
[Open3D DEBUG] Thread 000001: registration fitness=0.315, corres inlier ratio=0.000, Est. max k = -inf
[Open3D DEBUG] Thread 2625000: registration fitness=0.383, corres inlier ratio=0.004, Est. max k = inf
[Open3D DEBUG] Thread 2812500: registration fitness=0.168, corres inlier ratio=0.002, Est. max k = inf
[Open3D DEBUG] RANSAC exits after 19 validations. Best inlier ratio 3.931624e-01, RMSE 4.147273e+00

Expected behavior

RANSAC only excute 19 validations, It should be 1000000 times. I think it's caused by the '-inf' of k.

Open3D, Python and System information

- Operating system: Windows 11 64-bit
- Python version: Python 3.8
- Open3D version: 0.17
- System architecture: x86 
- Is this a remote workstation?: no
- How did you install Open3D?: pip

Additional information

No response