ConvergenceCriteria represents an abstract base class for different convergence criteria used in registration loops. More...
#include <convergence_criteria.h>
Public Types | |
| typedef boost::shared_ptr < const ConvergenceCriteria > | ConstPtr |
| typedef boost::shared_ptr < ConvergenceCriteria > | Ptr |
Public Member Functions | |
| ConvergenceCriteria () | |
| Empty constructor. | |
| virtual bool | hasConverged ()=0 |
| Check if convergence has been reached. Pure virtual. | |
| operator bool () | |
| Bool operator. | |
| virtual | ~ConvergenceCriteria () |
| Empty destructor. | |
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
| typedef boost::shared_ptr<const ConvergenceCriteria> pcl::registration::ConvergenceCriteria::ConstPtr |
Reimplemented in pcl::registration::DefaultConvergenceCriteria< Scalar >, and pcl::registration::DefaultConvergenceCriteria< float >.
Definition at line 68 of file convergence_criteria.h.
| typedef boost::shared_ptr<ConvergenceCriteria> pcl::registration::ConvergenceCriteria::Ptr |
Reimplemented in pcl::registration::DefaultConvergenceCriteria< Scalar >, and pcl::registration::DefaultConvergenceCriteria< float >.
Definition at line 67 of file convergence_criteria.h.
Constructor & Destructor Documentation
Empty constructor.
Definition at line 71 of file convergence_criteria.h.
| virtual pcl::registration::ConvergenceCriteria::~ConvergenceCriteria | ( | ) | [inline, virtual] |
Empty destructor.
Definition at line 74 of file convergence_criteria.h.
Member Function Documentation
| 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 >.
| pcl::registration::ConvergenceCriteria::operator bool | ( | ) | [inline] |
Bool operator.
Definition at line 81 of file convergence_criteria.h.
The documentation for this class was generated from the following file: