cloudViewer::pipelines::registration::ICPConvergenceCriteria Class Reference

Class that defines the convergence criteria of ICP. More...

#include <Registration.h>

Public Member Functions
	ICPConvergenceCriteria (double relative_fitness=1e-6, double relative_rmse=1e-6, int max_iteration=30)
	Parameterized Constructor. More...
	~ICPConvergenceCriteria ()

Public Attributes
double	relative_fitness_
double	relative_rmse_
int	max_iteration_
	Maximum iteration before iteration stops. More...

Detailed Description

Class that defines the convergence criteria of ICP.

ICP algorithm stops if the relative change of fitness and rmse hit relative_fitness_ and relative_rmse_ individually, or the iteration number exceeds max_iteration_.

Definition at line 36 of file Registration.h.

Constructor & Destructor Documentation

ICPConvergenceCriteria()

cloudViewer::pipelines::registration::ICPConvergenceCriteria::ICPConvergenceCriteria ( double  relative_fitness = 1e-6, double  relative_rmse = 1e-6, int  max_iteration = 30  )

inline

Parameterized Constructor.

Parameters

relative_fitness	If relative change (difference) of fitness score is lower than relative_fitness, the iteration stops.
relative_rmse	If relative change (difference) of inliner RMSE score is lower than relative_rmse, the iteration stops.
max_iteration	Maximum iteration before iteration stops.

Definition at line 45 of file Registration.h.

~ICPConvergenceCriteria()

cloudViewer::pipelines::registration::ICPConvergenceCriteria::~ICPConvergenceCriteria ( )

inline

Definition at line 51 of file Registration.h.

Member Data Documentation

max_iteration_

int cloudViewer::pipelines::registration::ICPConvergenceCriteria::max_iteration_

Maximum iteration before iteration stops.

Definition at line 61 of file Registration.h.

Referenced by cloudViewer::pipelines::registration::pybind_registration_classes(), and cloudViewer::pipelines::registration::RegistrationICP().

relative_fitness_

double cloudViewer::pipelines::registration::ICPConvergenceCriteria::relative_fitness_

If relative change (difference) of fitness score is lower than relative_fitness, the iteration stops.

Definition at line 56 of file Registration.h.

Referenced by cloudViewer::pipelines::registration::pybind_registration_classes(), and cloudViewer::pipelines::registration::RegistrationICP().

relative_rmse_

double cloudViewer::pipelines::registration::ICPConvergenceCriteria::relative_rmse_

If relative change (difference) of inliner RMSE score is lower than relative_rmse, the iteration stops.

Definition at line 59 of file Registration.h.

Referenced by cloudViewer::pipelines::registration::pybind_registration_classes(), and cloudViewer::pipelines::registration::RegistrationICP().

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

• /root/ACloudViewer/libs/cloudViewer/pipelines/registration/Registration.h