Point Cloud Library (PCL)
1.11.1-dev
pcl
registration
convergence_criteria.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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* are met:
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* * Redistributions of source code must retain the above copyright
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*
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* $Id$
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*
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*/
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#pragma once
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#include <
pcl/memory.h
>
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#include <
pcl/pcl_macros.h
>
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namespace
pcl
{
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namespace
registration {
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/** \brief @b ConvergenceCriteria represents an abstract base class for
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* different convergence criteria used in registration loops.
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*
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* This should be used as part of an Iterative Closest Point (ICP)-like
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* method, to verify if the algorithm has reached convergence.
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*
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* Typical convergence criteria that could inherit from this include:
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*
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* * a maximum number of iterations has been reached
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* * the transformation (R, t) cannot be further updated (the difference between
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* current and previous is smaller than a threshold)
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* * the Mean Squared Error (MSE) between the current set of correspondences and the
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* previous one is smaller than some threshold
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*
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* \author Radu B. Rusu
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* \ingroup registration
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*/
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class
PCL_EXPORTS
ConvergenceCriteria
{
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public
:
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using
Ptr
= shared_ptr<ConvergenceCriteria>;
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using
ConstPtr
= shared_ptr<const ConvergenceCriteria>;
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/** \brief Empty constructor. */
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ConvergenceCriteria
() {}
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/** \brief Empty destructor. */
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virtual
~ConvergenceCriteria
() {}
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/** \brief Check if convergence has been reached. Pure virtual. */
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virtual
bool
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hasConverged() = 0;
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/** \brief Bool operator. */
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operator
bool() {
return
(hasConverged()); }
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};
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}
// namespace registration
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}
// namespace pcl
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition:
convolution.h:46
pcl::registration::ConvergenceCriteria::Ptr
shared_ptr< ConvergenceCriteria > Ptr
Definition:
convergence_criteria.h:66
pcl::registration::ConvergenceCriteria::~ConvergenceCriteria
virtual ~ConvergenceCriteria()
Empty destructor.
Definition:
convergence_criteria.h:73
pcl::registration::ConvergenceCriteria::ConstPtr
shared_ptr< const ConvergenceCriteria > ConstPtr
Definition:
convergence_criteria.h:67
pcl::registration::ConvergenceCriteria
ConvergenceCriteria represents an abstract base class for different convergence criteria used in regi...
Definition:
convergence_criteria.h:64
pcl::registration::ConvergenceCriteria::ConvergenceCriteria
ConvergenceCriteria()
Empty constructor.
Definition:
convergence_criteria.h:70
memory.h
Defines functions, macros and traits for allocating and using memory.
PCL_EXPORTS
#define PCL_EXPORTS
Definition:
pcl_macros.h:323