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DefaultConvergenceCriteria represents an instantiation of ConvergenceCriteria, and implements the following criteria for registration loop evaluation: More...

#include <pcl/registration/default_convergence_criteria.h>

Public Types

enum ConvergenceState {
CONVERGENCE_CRITERIA_NOT_CONVERGED, CONVERGENCE_CRITERIA_ITERATIONS, CONVERGENCE_CRITERIA_TRANSFORM, CONVERGENCE_CRITERIA_ABS_MSE,
CONVERGENCE_CRITERIA_REL_MSE, CONVERGENCE_CRITERIA_NO_CORRESPONDENCES, CONVERGENCE_CRITERIA_FAILURE_AFTER_MAX_ITERATIONS
}
using Ptr = shared_ptr< DefaultConvergenceCriteria< Scalar > >
using ConstPtr = shared_ptr< const DefaultConvergenceCriteria< Scalar > >
using Matrix4 = Eigen::Matrix< Scalar, 4, 4 >
- Public Types inherited from pcl::registration::ConvergenceCriteria
using Ptr = shared_ptr< ConvergenceCriteria >
using ConstPtr = shared_ptr< const ConvergenceCriteria >

Public Member Functions

DefaultConvergenceCriteria (const int &iterations, const Matrix4 &transform, const pcl::Correspondences &correspondences)
Empty constructor. More...
~DefaultConvergenceCriteria ()
Empty destructor. More...
void setMaximumIterationsSimilarTransforms (const int nr_iterations)
Set the maximum number of consecutive iterations that the internal rotation, translation, and MSE differences are allowed to be similar. More...
int getMaximumIterationsSimilarTransforms () const
Get the maximum number of consecutive iterations that the internal rotation, translation, and MSE differences are allowed to be similar, as set by the user. More...
void setMaximumIterations (const int nr_iterations)
Set the maximum number of iterations the internal optimization should run for. More...
int getMaximumIterations () const
Get the maximum number of iterations the internal optimization should run for, as set by the user. More...
void setFailureAfterMaximumIterations (const bool failure_after_max_iter)
Specifies if the registration fails or converges when the maximum number of iterations is reached. More...
bool getFailureAfterMaximumIterations () const
Get whether the registration will fail or converge when the maximum number of iterations is reached. More...
void setRotationThreshold (const double threshold)
Set the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More...
double getRotationThreshold () const
Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) as set by the user. More...
void setTranslationThreshold (const double threshold)
Set the translation threshold (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More...
double getTranslationThreshold () const
Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) as set by the user. More...
void setRelativeMSE (const double mse_relative)
Set the relative MSE between two consecutive sets of correspondences. More...
double getRelativeMSE () const
Get the relative MSE between two consecutive sets of correspondences. More...
void setAbsoluteMSE (const double mse_absolute)
Set the absolute MSE between two consecutive sets of correspondences. More...
double getAbsoluteMSE () const
Get the absolute MSE between two consecutive sets of correspondences. More...
bool hasConverged () override
Check if convergence has been reached. More...
ConvergenceState getConvergenceState ()
Return the convergence state after hasConverged () More...
void setConvergenceState (ConvergenceState c)
Sets the convergence state externally (for example, when ICP does not find enough correspondences to estimate a transformation, the function is called setting the convergence state to ConvergenceState::CONVERGENCE_CRITERIA_NO_CORRESPONDENCES) More...
- Public Member Functions inherited from pcl::registration::ConvergenceCriteria
ConvergenceCriteria ()
Empty constructor. More...
virtual ~ConvergenceCriteria ()
Empty destructor. More...
operator bool ()
Bool operator. More...

Protected Member Functions

double calculateMSE (const pcl::Correspondences &correspondences) const
Calculate the mean squared error (MSE) of the distance for a given set of correspondences. More...

Protected Attributes

const int & iterations_
The number of iterations done by the registration loop so far. More...
const Matrix4 & transformation_
The current transformation obtained by the transformation estimation method. More...
const pcl::Correspondences & correspondences_
The current set of point correspondences between the source and the target. More...
double correspondences_prev_mse_
The MSE for the previous set of correspondences. More...
double correspondences_cur_mse_
The MSE for the current set of correspondences. More...
int max_iterations_
The maximum nuyyGmber of iterations that the registration loop is to be executed. More...
bool failure_after_max_iter_
Specifys if the registration fails or converges when the maximum number of iterations is reached. More...
double rotation_threshold_
The rotation threshold is the relative rotation between two iterations (as angle cosine). More...
double translation_threshold_
The translation threshold is the relative translation between two iterations (0 if no translation). More...
double mse_threshold_relative_
The relative change from the previous MSE for the current set of correspondences, e.g. More...
double mse_threshold_absolute_
The absolute change from the previous MSE for the current set of correspondences. More...
int iterations_similar_transforms_
Internal counter for the number of iterations that the internal rotation, translation, and MSE differences are allowed to be similar. More...
int max_iterations_similar_transforms_
The maximum number of iterations that the internal rotation, translation, and MSE differences are allowed to be similar. More...
ConvergenceState convergence_state_
The state of the convergence (e.g., why did the registration converge). More...

Detailed Description

template<typename Scalar = float>
class pcl::registration::DefaultConvergenceCriteria< Scalar >

DefaultConvergenceCriteria represents an instantiation of ConvergenceCriteria, and implements the following criteria for registration loop evaluation:

  • 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 (both relative and absolute tests)
Note
Convergence is considered reached if ANY of the above criteria are met.
Author
Radu B. Rusu

Definition at line 65 of file default_convergence_criteria.h.

Member Typedef Documentation

ConstPtr

template<typename Scalar = float>
using pcl::registration::DefaultConvergenceCriteria< Scalar >::ConstPtr = shared_ptr<const DefaultConvergenceCriteria<Scalar> >

Definition at line 68 of file default_convergence_criteria.h.

Matrix4

template<typename Scalar = float>
using pcl::registration::DefaultConvergenceCriteria< Scalar >::Matrix4 = Eigen::Matrix<Scalar, 4, 4>

Definition at line 70 of file default_convergence_criteria.h.

Ptr

template<typename Scalar = float>
using pcl::registration::DefaultConvergenceCriteria< Scalar >::Ptr = shared_ptr<DefaultConvergenceCriteria<Scalar> >

Definition at line 67 of file default_convergence_criteria.h.

Member Enumeration Documentation

ConvergenceState

Enumerator
CONVERGENCE_CRITERIA_NOT_CONVERGED
CONVERGENCE_CRITERIA_ITERATIONS
CONVERGENCE_CRITERIA_TRANSFORM
CONVERGENCE_CRITERIA_ABS_MSE
CONVERGENCE_CRITERIA_REL_MSE
CONVERGENCE_CRITERIA_NO_CORRESPONDENCES
CONVERGENCE_CRITERIA_FAILURE_AFTER_MAX_ITERATIONS

Definition at line 72 of file default_convergence_criteria.h.

Constructor & Destructor Documentation

DefaultConvergenceCriteria()

template<typename Scalar = float>
pcl::registration::DefaultConvergenceCriteria< Scalar >::DefaultConvergenceCriteria ( const int & iterations,
const Matrix4 & transform,
const pcl::Correspondences & correspondences
)
inline

Empty constructor.

Sets:

  • the maximum number of iterations to 1000
  • the rotation threshold to 0.256 degrees (0.99999)
  • the translation threshold to 0.0003 meters (3e-4^2)
  • the MSE relative / absolute thresholds to 0.001% and 1e-12
Parameters
[in] iterations a reference to the number of iterations the loop has ran so far
[in] transform a reference to the current transformation obtained by the transformation evaluation
[in] correspondences a reference to the current set of point correspondences between source and target

Definition at line 94 of file default_convergence_criteria.h.

~DefaultConvergenceCriteria()

template<typename Scalar = float>
pcl::registration::DefaultConvergenceCriteria< Scalar >::~DefaultConvergenceCriteria ( )
inline

Empty destructor.

Definition at line 114 of file default_convergence_criteria.h.

Member Function Documentation

calculateMSE()

template<typename Scalar = float>
double pcl::registration::DefaultConvergenceCriteria< Scalar >::calculateMSE ( const pcl::Correspondences & correspondences ) const
inlineprotected

Calculate the mean squared error (MSE) of the distance for a given set of correspondences.

Parameters
[in] correspondences the given set of correspondences

Definition at line 273 of file default_convergence_criteria.h.

getAbsoluteMSE()

template<typename Scalar = float>
double pcl::registration::DefaultConvergenceCriteria< Scalar >::getAbsoluteMSE ( ) const
inline

Get the absolute MSE between two consecutive sets of correspondences.

Definition at line 241 of file default_convergence_criteria.h.

getConvergenceState()

template<typename Scalar = float>
ConvergenceState pcl::registration::DefaultConvergenceCriteria< Scalar >::getConvergenceState ( )
inline

Return the convergence state after hasConverged ()

Definition at line 252 of file default_convergence_criteria.h.

getFailureAfterMaximumIterations()

template<typename Scalar = float>
bool pcl::registration::DefaultConvergenceCriteria< Scalar >::getFailureAfterMaximumIterations ( ) const
inline

Get whether the registration will fail or converge when the maximum number of iterations is reached.

Definition at line 167 of file default_convergence_criteria.h.

getMaximumIterations()

template<typename Scalar = float>
int pcl::registration::DefaultConvergenceCriteria< Scalar >::getMaximumIterations ( ) const
inline

Get the maximum number of iterations the internal optimization should run for, as set by the user.

Definition at line 149 of file default_convergence_criteria.h.

getMaximumIterationsSimilarTransforms()

template<typename Scalar = float>
int pcl::registration::DefaultConvergenceCriteria< Scalar >::getMaximumIterationsSimilarTransforms ( ) const
inline

Get the maximum number of consecutive iterations that the internal rotation, translation, and MSE differences are allowed to be similar, as set by the user.

Definition at line 131 of file default_convergence_criteria.h.

getRelativeMSE()

template<typename Scalar = float>
double pcl::registration::DefaultConvergenceCriteria< Scalar >::getRelativeMSE ( ) const
inline

Get the relative MSE between two consecutive sets of correspondences.

Definition at line 225 of file default_convergence_criteria.h.

getRotationThreshold()

template<typename Scalar = float>
double pcl::registration::DefaultConvergenceCriteria< Scalar >::getRotationThreshold ( ) const
inline

Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) as set by the user.

Definition at line 188 of file default_convergence_criteria.h.

getTranslationThreshold()

template<typename Scalar = float>
double pcl::registration::DefaultConvergenceCriteria< Scalar >::getTranslationThreshold ( ) const
inline

Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) as set by the user.

Definition at line 209 of file default_convergence_criteria.h.

hasConverged()

template<typename Scalar >
bool pcl::registration::DefaultConvergenceCriteria< Scalar >::hasConverged
overridevirtual

Check if convergence has been reached.

Implements pcl::registration::ConvergenceCriteria.

Definition at line 51 of file default_convergence_criteria.hpp.

setAbsoluteMSE()

template<typename Scalar = float>
void pcl::registration::DefaultConvergenceCriteria< Scalar >::setAbsoluteMSE ( const double mse_absolute )
inline

Set the absolute MSE between two consecutive sets of correspondences.

Parameters
[in] mse_absolute the relative MSE threshold

Definition at line 234 of file default_convergence_criteria.h.

setConvergenceState()

template<typename Scalar = float>
void pcl::registration::DefaultConvergenceCriteria< Scalar >::setConvergenceState ( ConvergenceState c )
inline

Sets the convergence state externally (for example, when ICP does not find enough correspondences to estimate a transformation, the function is called setting the convergence state to ConvergenceState::CONVERGENCE_CRITERIA_NO_CORRESPONDENCES)

Parameters
[in] c the convergence state

Definition at line 263 of file default_convergence_criteria.h.

setFailureAfterMaximumIterations()

template<typename Scalar = float>
void pcl::registration::DefaultConvergenceCriteria< Scalar >::setFailureAfterMaximumIterations ( const bool failure_after_max_iter )
inline

Specifies if the registration fails or converges when the maximum number of iterations is reached.

Parameters
[in] failure_after_max_iter If true, the registration fails. If false, the registration is assumed to have converged.

Definition at line 159 of file default_convergence_criteria.h.

setMaximumIterations()

template<typename Scalar = float>
void pcl::registration::DefaultConvergenceCriteria< Scalar >::setMaximumIterations ( const int nr_iterations )
inline

Set the maximum number of iterations the internal optimization should run for.

Parameters
[in] nr_iterations the maximum number of iterations the internal optimization should run for

Definition at line 141 of file default_convergence_criteria.h.

setMaximumIterationsSimilarTransforms()

template<typename Scalar = float>
void pcl::registration::DefaultConvergenceCriteria< Scalar >::setMaximumIterationsSimilarTransforms ( const int nr_iterations )
inline

Set the maximum number of consecutive iterations that the internal rotation, translation, and MSE differences are allowed to be similar.

Parameters
[in] nr_iterations the maximum number of iterations

Definition at line 121 of file default_convergence_criteria.h.

setRelativeMSE()

template<typename Scalar = float>
void pcl::registration::DefaultConvergenceCriteria< Scalar >::setRelativeMSE ( const double mse_relative )
inline

Set the relative MSE between two consecutive sets of correspondences.

Parameters
[in] mse_relative the relative MSE threshold

Definition at line 218 of file default_convergence_criteria.h.

setRotationThreshold()

template<typename Scalar = float>
void pcl::registration::DefaultConvergenceCriteria< Scalar >::setRotationThreshold ( const double threshold )
inline

Set the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.

Parameters
[in] threshold the rotation threshold in order for an optimization to be considered as having converged to the final solution.

Definition at line 179 of file default_convergence_criteria.h.

setTranslationThreshold()

template<typename Scalar = float>
void pcl::registration::DefaultConvergenceCriteria< Scalar >::setTranslationThreshold ( const double threshold )
inline

Set the translation threshold (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.

Parameters
[in] threshold the translation threshold in order for an optimization to be considered as having converged to the final solution.

Definition at line 200 of file default_convergence_criteria.h.

Member Data Documentation

convergence_state_

template<typename Scalar = float>
ConvergenceState pcl::registration::DefaultConvergenceCriteria< Scalar >::convergence_state_
protected

The state of the convergence (e.g., why did the registration converge).

Definition at line 332 of file default_convergence_criteria.h.

Referenced by pcl::registration::DefaultConvergenceCriteria< float >::getConvergenceState(), and pcl::registration::DefaultConvergenceCriteria< float >::setConvergenceState().

correspondences_

template<typename Scalar = float>
const pcl::Correspondences& pcl::registration::DefaultConvergenceCriteria< Scalar >::correspondences_
protected

The current set of point correspondences between the source and the target.

Definition at line 291 of file default_convergence_criteria.h.

correspondences_cur_mse_

template<typename Scalar = float>
double pcl::registration::DefaultConvergenceCriteria< Scalar >::correspondences_cur_mse_
protected

The MSE for the current set of correspondences.

Definition at line 297 of file default_convergence_criteria.h.

correspondences_prev_mse_

template<typename Scalar = float>
double pcl::registration::DefaultConvergenceCriteria< Scalar >::correspondences_prev_mse_
protected

The MSE for the previous set of correspondences.

Definition at line 294 of file default_convergence_criteria.h.

failure_after_max_iter_

template<typename Scalar = float>
bool pcl::registration::DefaultConvergenceCriteria< Scalar >::failure_after_max_iter_
protected

Specifys if the registration fails or converges when the maximum number of iterations is reached.

Definition at line 305 of file default_convergence_criteria.h.

Referenced by pcl::registration::DefaultConvergenceCriteria< float >::getFailureAfterMaximumIterations(), and pcl::registration::DefaultConvergenceCriteria< float >::setFailureAfterMaximumIterations().

iterations_

template<typename Scalar = float>
const int& pcl::registration::DefaultConvergenceCriteria< Scalar >::iterations_
protected

The number of iterations done by the registration loop so far.

Definition at line 283 of file default_convergence_criteria.h.

iterations_similar_transforms_

template<typename Scalar = float>
int pcl::registration::DefaultConvergenceCriteria< Scalar >::iterations_similar_transforms_
protected

Internal counter for the number of iterations that the internal rotation, translation, and MSE differences are allowed to be similar.

Definition at line 325 of file default_convergence_criteria.h.

max_iterations_

template<typename Scalar = float>
int pcl::registration::DefaultConvergenceCriteria< Scalar >::max_iterations_
protected

The maximum nuyyGmber of iterations that the registration loop is to be executed.

Definition at line 301 of file default_convergence_criteria.h.

Referenced by pcl::registration::DefaultConvergenceCriteria< float >::getMaximumIterations(), and pcl::registration::DefaultConvergenceCriteria< float >::setMaximumIterations().

max_iterations_similar_transforms_

template<typename Scalar = float>
int pcl::registration::DefaultConvergenceCriteria< Scalar >::max_iterations_similar_transforms_
protected

The maximum number of iterations that the internal rotation, translation, and MSE differences are allowed to be similar.

Definition at line 329 of file default_convergence_criteria.h.

Referenced by pcl::registration::DefaultConvergenceCriteria< float >::getMaximumIterationsSimilarTransforms(), and pcl::registration::DefaultConvergenceCriteria< float >::setMaximumIterationsSimilarTransforms().

mse_threshold_absolute_

template<typename Scalar = float>
double pcl::registration::DefaultConvergenceCriteria< Scalar >::mse_threshold_absolute_
protected

The absolute change from the previous MSE for the current set of correspondences.

Definition at line 321 of file default_convergence_criteria.h.

Referenced by pcl::registration::DefaultConvergenceCriteria< float >::getAbsoluteMSE(), and pcl::registration::DefaultConvergenceCriteria< float >::setAbsoluteMSE().

mse_threshold_relative_

template<typename Scalar = float>
double pcl::registration::DefaultConvergenceCriteria< Scalar >::mse_threshold_relative_
protected

The relative change from the previous MSE for the current set of correspondences, e.g.

.1 means 10% change.

Definition at line 317 of file default_convergence_criteria.h.

Referenced by pcl::registration::DefaultConvergenceCriteria< float >::getRelativeMSE(), and pcl::registration::DefaultConvergenceCriteria< float >::setRelativeMSE().

rotation_threshold_

template<typename Scalar = float>
double pcl::registration::DefaultConvergenceCriteria< Scalar >::rotation_threshold_
protected

The rotation threshold is the relative rotation between two iterations (as angle cosine).

Definition at line 309 of file default_convergence_criteria.h.

Referenced by pcl::registration::DefaultConvergenceCriteria< float >::getRotationThreshold(), and pcl::registration::DefaultConvergenceCriteria< float >::setRotationThreshold().

transformation_

template<typename Scalar = float>
const Matrix4& pcl::registration::DefaultConvergenceCriteria< Scalar >::transformation_
protected

The current transformation obtained by the transformation estimation method.

Definition at line 287 of file default_convergence_criteria.h.

translation_threshold_

template<typename Scalar = float>
double pcl::registration::DefaultConvergenceCriteria< Scalar >::translation_threshold_
protected

The translation threshold is the relative translation between two iterations (0 if no translation).

Definition at line 313 of file default_convergence_criteria.h.

Referenced by pcl::registration::DefaultConvergenceCriteria< float >::getTranslationThreshold(), and pcl::registration::DefaultConvergenceCriteria< float >::setTranslationThreshold().


The documentation for this class was generated from the following files:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1registration_1_1_default_convergence_criteria.html