< const ConvergenceCriteria >
< ConvergenceCriteria >
|Empty constructor. |
|virtual bool||hasConverged ()=0|
|Check if convergence has been reached. Pure virtual. |
|operator bool ()|
|Bool operator. |
|Empty destructor. |
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
|typedef boost::shared_ptr<const ConvergenceCriteria> pcl::registration::ConvergenceCriteria::ConstPtr|
|virtual bool pcl::registration::ConvergenceCriteria::hasConverged||(||)||
Check if convergence has been reached. Pure virtual.