Point Cloud Library (PCL)  1.12.0-dev
convergence_criteria.h
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39 
40 #pragma once
41 
42 #include <pcl/memory.h>
43 #include <pcl/pcl_macros.h>
44 
45 namespace pcl {
46 namespace registration {
47 /** \brief @b ConvergenceCriteria represents an abstract base class for
48  * different convergence criteria used in registration loops.
49  *
50  * This should be used as part of an Iterative Closest Point (ICP)-like
51  * method, to verify if the algorithm has reached convergence.
52  *
53  * Typical convergence criteria that could inherit from this include:
54  *
55  * * a maximum number of iterations has been reached
56  * * the transformation (R, t) cannot be further updated (the difference between
57  * current and previous is smaller than a threshold)
58  * * the Mean Squared Error (MSE) between the current set of correspondences and the
59  * previous one is smaller than some threshold
60  *
61  * \author Radu B. Rusu
62  * \ingroup registration
63  */
65 public:
66  using Ptr = shared_ptr<ConvergenceCriteria>;
67  using ConstPtr = shared_ptr<const ConvergenceCriteria>;
68 
69  /** \brief Empty constructor. */
71 
72  /** \brief Empty destructor. */
73  virtual ~ConvergenceCriteria() {}
74 
75  /** \brief Check if convergence has been reached. Pure virtual. */
76  virtual bool
77  hasConverged() = 0;
78 
79  /** \brief Bool operator. */
80  operator bool() { return (hasConverged()); }
81 };
82 } // namespace registration
83 } // namespace pcl
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::registration::ConvergenceCriteria::Ptr
shared_ptr< ConvergenceCriteria > Ptr
Definition: convergence_criteria.h:66
pcl::registration::ConvergenceCriteria::~ConvergenceCriteria
virtual ~ConvergenceCriteria()
Empty destructor.
Definition: convergence_criteria.h:73
pcl::registration::ConvergenceCriteria::ConstPtr
shared_ptr< const ConvergenceCriteria > ConstPtr
Definition: convergence_criteria.h:67
pcl::registration::ConvergenceCriteria
ConvergenceCriteria represents an abstract base class for different convergence criteria used in regi...
Definition: convergence_criteria.h:64
pcl::registration::ConvergenceCriteria::ConvergenceCriteria
ConvergenceCriteria()
Empty constructor.
Definition: convergence_criteria.h:70
memory.h
Defines functions, macros and traits for allocating and using memory.
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:323