ACloudViewer  3.9.4
A Modern Library for 3D Data Processing
GlobalOptimizationConvergenceCriteria.h
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1 // ----------------------------------------------------------------------------
2 // - CloudViewer: www.cloudViewer.org -
3 // ----------------------------------------------------------------------------
4 // Copyright (c) 2018-2024 www.cloudViewer.org
5 // SPDX-License-Identifier: MIT
6 // ----------------------------------------------------------------------------
7 
8 #pragma once
9 
10 namespace cloudViewer {
11 namespace pipelines {
12 namespace registration {
13 
17 class GlobalOptimizationOption {
18 public:
31  GlobalOptimizationOption(double max_correspondence_distance = 0.075,
32  double edge_prune_threshold = 0.25,
33  double preference_loop_closure = 1.0,
34  int reference_node = -1)
35  : max_correspondence_distance_(max_correspondence_distance),
36  edge_prune_threshold_(edge_prune_threshold),
37  preference_loop_closure_(preference_loop_closure),
38  reference_node_(reference_node) {
39  max_correspondence_distance_ = max_correspondence_distance < 0.0
40  ? 0.075
41  : max_correspondence_distance;
42  edge_prune_threshold_ =
43  edge_prune_threshold < 0.0 || edge_prune_threshold > 1.0
44  ? 0.25
45  : edge_prune_threshold;
46  preference_loop_closure_ =
47  preference_loop_closure < 0.0 ? 1.0 : preference_loop_closure;
48  };
49  ~GlobalOptimizationOption() {}
50 
51 public:
56  double max_correspondence_distance_;
59  double edge_prune_threshold_;
64  double preference_loop_closure_;
66  int reference_node_;
67 };
68 
72 class GlobalOptimizationConvergenceCriteria {
73 public:
84  GlobalOptimizationConvergenceCriteria(
85  int max_iteration = 100,
86  double min_relative_increment = 1e-6,
87  double min_relative_residual_increment = 1e-6,
88  double min_right_term = 1e-6,
89  double min_residual = 1e-6,
90  int max_iteration_lm = 20,
91  double upper_scale_factor = 2. / 3.,
92  double lower_scale_factor = 1. / 3.)
93  : max_iteration_(max_iteration),
94  min_relative_increment_(min_relative_increment),
95  min_relative_residual_increment_(min_relative_residual_increment),
96  min_right_term_(min_right_term),
97  min_residual_(min_residual),
98  max_iteration_lm_(max_iteration_lm),
99  upper_scale_factor_(upper_scale_factor),
100  lower_scale_factor_(lower_scale_factor) {
101  upper_scale_factor_ =
102  upper_scale_factor < 0.0 || upper_scale_factor > 1.0
103  ? 2. / 3.
104  : upper_scale_factor;
105  lower_scale_factor_ =
106  lower_scale_factor < 0.0 || lower_scale_factor > 1.0
107  ? 1. / 3.
108  : lower_scale_factor;
109  }
110  ~GlobalOptimizationConvergenceCriteria() {}
111 
112 public:
114  int max_iteration_;
119  double min_relative_increment_;
121  double min_relative_residual_increment_;
123  double min_right_term_;
125  double min_residual_;
130  int max_iteration_lm_;
136  double upper_scale_factor_;
138  double lower_scale_factor_;
139 };
140 
141 } // namespace registration
142 } // namespace pipelines
143 } // namespace cloudViewer
cloudViewer::pipelines::registration::GlobalOptimizationConvergenceCriteria::GlobalOptimizationConvergenceCriteria
GlobalOptimizationConvergenceCriteria(int max_iteration=100, double min_relative_increment=1e-6, double min_relative_residual_increment=1e-6, double min_right_term=1e-6, double min_residual=1e-6, int max_iteration_lm=20, double upper_scale_factor=2./3., double lower_scale_factor=1./3.)
Parameterized Constructor.
Definition: GlobalOptimizationConvergenceCriteria.h:84
cloudViewer::pipelines::registration::GlobalOptimizationOption::reference_node_
int reference_node_
The pose of this node is unchanged after optimization.
Definition: GlobalOptimizationConvergenceCriteria.h:66
cloudViewer::pipelines::registration::GlobalOptimizationOption::GlobalOptimizationOption
GlobalOptimizationOption(double max_correspondence_distance=0.075, double edge_prune_threshold=0.25, double preference_loop_closure=1.0, int reference_node=-1)
Parameterized Constructor.
Definition: GlobalOptimizationConvergenceCriteria.h:31
cloudViewer::pipelines::registration::max_correspondence_distance
static const double max_correspondence_distance
Definition: Registration.cpp:34
cloudViewer
Generic file read and write utility for python interface.
Definition: AutoSegmentationTools.h:16