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ConvergenceCriteria represents an abstract base class for different convergence criteria used in registration loops. More...

#include <pcl/registration/convergence_criteria.h>

Public Types

using Ptr = shared_ptr< ConvergenceCriteria >
using ConstPtr = shared_ptr< const ConvergenceCriteria >

Public Member Functions

ConvergenceCriteria ()
Empty constructor. More...
virtual ~ConvergenceCriteria ()
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
Author
Radu B. Rusu

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()

pcl::registration::ConvergenceCriteria::ConvergenceCriteria ( )
inline

Empty constructor.

Definition at line 70 of file convergence_criteria.h.

~ConvergenceCriteria()

virtual pcl::registration::ConvergenceCriteria::~ConvergenceCriteria ( )
inlinevirtual

Empty destructor.

Definition at line 73 of file convergence_criteria.h.

Member Function Documentation

hasConverged()

virtual bool pcl::registration::ConvergenceCriteria::hasConverged ( )
pure virtual

Check if convergence has been reached.

Pure virtual.

Implemented in pcl::registration::DefaultConvergenceCriteria< Scalar >, and pcl::registration::DefaultConvergenceCriteria< float >.

operator bool()

pcl::registration::ConvergenceCriteria::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:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_convergence_criteria.html