ACloudViewer  3.9.4
A Modern Library for 3D Data Processing
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cloudViewer::t::pipelines::odometry::OdometryConvergenceCriteria Class Reference

#include <RGBDOdometry.h>

Public Member Functions

 OdometryConvergenceCriteria (int max_iteration, double relative_rmse=1e-6, double relative_fitness=1e-6)
 Constructor for the convergence criteria, where we stop iterations once the criteria are met. More...
 

Public Attributes

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

Detailed Description

Definition at line 30 of file RGBDOdometry.h.

Constructor & Destructor Documentation

◆ OdometryConvergenceCriteria()

cloudViewer::t::pipelines::odometry::OdometryConvergenceCriteria::OdometryConvergenceCriteria ( int  max_iteration,
double  relative_rmse = 1e-6,
double  relative_fitness = 1e-6 
)
inline

Constructor for the convergence criteria, where we stop iterations once the criteria are met.

Parameters
max_iterationMaximum iteration before iteration stops.
relative_rmseRelative rmse threshold where we stop iterations when $ |rmse_{i+1} - rmse_i|/rmse_i < relative rmse$.
relative_fitnessRelative fitness threshold where we stop iterations when $ |fitness_{i+1} - fitness_i|/fitness_i < relative fitness$

Definition at line 41 of file RGBDOdometry.h.

Member Data Documentation

◆ max_iteration_

int cloudViewer::t::pipelines::odometry::OdometryConvergenceCriteria::max_iteration_

Maximum iteration before iteration stops.

Definition at line 50 of file RGBDOdometry.h.

Referenced by cloudViewer::t::pipelines::odometry::pybind_odometry().

◆ relative_fitness_

double cloudViewer::t::pipelines::odometry::OdometryConvergenceCriteria::relative_fitness_

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

Definition at line 56 of file RGBDOdometry.h.

Referenced by cloudViewer::t::pipelines::odometry::pybind_odometry().

◆ relative_rmse_

double cloudViewer::t::pipelines::odometry::OdometryConvergenceCriteria::relative_rmse_

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

Definition at line 53 of file RGBDOdometry.h.

Referenced by cloudViewer::t::pipelines::odometry::pybind_odometry().

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