Point Cloud Library (PCL) 1.12.1
convergence_criteria.h
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39
40#pragma once
41
42#include <pcl/memory.h>
43#include <pcl/pcl_macros.h>
44
45namespace pcl {
46namespace registration {
47/** \brief @b ConvergenceCriteria represents an abstract base class for
48 * different convergence criteria used in registration loops.
49 *
50 * This should be used as part of an Iterative Closest Point (ICP)-like
51 * method, to verify if the algorithm has reached convergence.
52 *
53 * Typical convergence criteria that could inherit from this include:
54 *
55 * * a maximum number of iterations has been reached
56 * * the transformation (R, t) cannot be further updated (the difference between
57 * current and previous is smaller than a threshold)
58 * * the Mean Squared Error (MSE) between the current set of correspondences and the
59 * previous one is smaller than some threshold
60 *
61 * \author Radu B. Rusu
62 * \ingroup registration
63 */
65public:
66 using Ptr = shared_ptr<ConvergenceCriteria>;
67 using ConstPtr = shared_ptr<const ConvergenceCriteria>;
68
69 /** \brief Empty constructor. */
71
72 /** \brief Empty destructor. */
74
75 /** \brief Check if convergence has been reached. Pure virtual. */
76 virtual bool
78
79 /** \brief Bool operator. */
80 operator bool() { return (hasConverged()); }
81};
82} // namespace registration
83} // namespace pcl
ConvergenceCriteria represents an abstract base class for different convergence criteria used in regi...
virtual bool hasConverged()=0
Check if convergence has been reached.
shared_ptr< ConvergenceCriteria > Ptr
shared_ptr< const ConvergenceCriteria > ConstPtr
virtual ~ConvergenceCriteria()
Empty destructor.
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323