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

#include <Registration.h>

Public Member Functions
	RANSACConvergenceCriteria (int max_iteration=100000, double confidence=0.999)
	Parameterized Constructor. More...

	~RANSACConvergenceCriteria ()

Public Attributes
int	max_iteration_
	Maximum iteration before iteration stops. More...

double	confidence_
	Desired probability of success. More...

Detailed Description

Class that defines the convergence criteria of RANSAC.

RANSAC algorithm stops if the iteration number hits max_iteration_, or the fitness measured during validation suggests that the algorithm can be terminated early with some confidence_. Early termination takes place when the number of iteration reaches k = log(1 - confidence)/log(1 - fitness^{ransac_n}), where ransac_n is the number of points used during a ransac iteration. Note that the validation is the most computational expensive operator in an iteration. Most iterations do not do full validation. It is crucial to control confidence_ so that the computation time is acceptable.

Definition at line 77 of file Registration.h.

Constructor & Destructor Documentation

◆ RANSACConvergenceCriteria()

cloudViewer::pipelines::registration::RANSACConvergenceCriteria::RANSACConvergenceCriteria	(	int	max_iteration = `100000`,
		double	confidence = `0.999`
	)

inline

Parameterized Constructor.

Parameters

max_iteration	Maximum iteration before iteration stops.
confidence	Desired probability of success. Used for estimating early termination.

Definition at line 84 of file Registration.h.

◆ ~RANSACConvergenceCriteria()

cloudViewer::pipelines::registration::RANSACConvergenceCriteria::~RANSACConvergenceCriteria ( )

inline

Definition at line 88 of file Registration.h.

Member Data Documentation

◆ confidence_

double cloudViewer::pipelines::registration::RANSACConvergenceCriteria::confidence_

Desired probability of success.

Definition at line 94 of file Registration.h.

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

◆ max_iteration_

int cloudViewer::pipelines::registration::RANSACConvergenceCriteria::max_iteration_

Maximum iteration before iteration stops.

Definition at line 92 of file Registration.h.