ConvergenceCriteria represents an abstract base class for different convergence criteria used in registration loops. More...
#include <pcl/registration/convergence_criteria.h>
Inheritance diagram for pcl::registration::ConvergenceCriteria:
Public Types | |
| using | Ptr = shared_ptr< ConvergenceCriteria > |
| using | ConstPtr = shared_ptr< const ConvergenceCriteria > |
Public Member Functions | |
| ConvergenceCriteria ()=default | |
| Empty constructor. More... | |
| virtual | ~ConvergenceCriteria ()=default |
| Empty destructor. More... | |
| virtual bool | hasConverged ()=0 |
| Check if convergence has been reached. More... | |
| operator bool () | |
| Bool operator. More... | |
Detailed Description
ConvergenceCriteria represents an abstract base class for different convergence criteria used in registration loops.
This should be used as part of an Iterative Closest Point (ICP)-like method, to verify if the algorithm has reached convergence.
Typical convergence criteria that could inherit from this include:
- a maximum number of iterations has been reached
- the transformation (R, t) cannot be further updated (the difference between current and previous is smaller than a threshold)
- the Mean Squared Error (MSE) between the current set of correspondences and the previous one is smaller than some threshold
Definition at line 64 of file convergence_criteria.h.
Member Typedef Documentation
◆ ConstPtr
| using pcl::registration::ConvergenceCriteria::ConstPtr = shared_ptr<const ConvergenceCriteria> |
Definition at line 67 of file convergence_criteria.h.
◆ Ptr
| using pcl::registration::ConvergenceCriteria::Ptr = shared_ptr<ConvergenceCriteria> |
Definition at line 66 of file convergence_criteria.h.
Constructor & Destructor Documentation
◆ ConvergenceCriteria()
|
default |
Empty constructor.
◆ ~ConvergenceCriteria()
|
virtualdefault |
Empty destructor.
Member Function Documentation
◆ hasConverged()
|
pure virtual |
Check if convergence has been reached.
Pure virtual.
Implemented in pcl::registration::DefaultConvergenceCriteria< Scalar >, and pcl::registration::DefaultConvergenceCriteria< float >.
◆ operator bool()
|
inline |
Bool operator.
Definition at line 80 of file convergence_criteria.h.
The documentation for this class was generated from the following file:
- pcl/registration/convergence_criteria.h