pcl::registration::ConvergenceCriteria Class Reference
[Module registration]

ConvergenceCriteria represents an abstract base class for different convergence criteria used in registration loops. More...

#include <pcl/registration/convergence_criteria.h>

Inheritance diagram for pcl::registration::ConvergenceCriteria:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < ConvergenceCriteria >	Ptr
typedef boost::shared_ptr < const ConvergenceCriteria >	ConstPtr
Public Member Functions
	ConvergenceCriteria ()
	Empty constructor.
virtual	~ConvergenceCriteria ()
	Empty destructor.
virtual bool	hasConverged ()=0
	Check if convergence has been reached.
	operator bool ()
	Bool operator.

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Detailed Description

ConvergenceCriteria represents an abstract base class for different convergence criteria used in registration loops.

This should be used as part of an Iterative Closest Point (ICP)-like method, to verify if the algorithm has reached convergence.

Typical convergence criteria that could inherit from this include:

* a maximum number of iterations has been reached * the transformation (R, t) cannot be further updated (the difference between current and previous is smaller than a threshold) * the Mean Squared Error (MSE) between the current set of correspondences and the previous one is smaller than some threshold

Author:

Radu B. Rusu

Definition at line 64 of file convergence_criteria.h.

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Member Typedef Documentation

typedef boost::shared_ptr<const ConvergenceCriteria> pcl::registration::ConvergenceCriteria::ConstPtr

Reimplemented in pcl::registration::DefaultConvergenceCriteria< Scalar >, and pcl::registration::DefaultConvergenceCriteria< float >.

Definition at line 68 of file convergence_criteria.h.

typedef boost::shared_ptr<ConvergenceCriteria> pcl::registration::ConvergenceCriteria::Ptr

Reimplemented in pcl::registration::DefaultConvergenceCriteria< Scalar >, and pcl::registration::DefaultConvergenceCriteria< float >.

Definition at line 67 of file convergence_criteria.h.

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Constructor & Destructor Documentation

pcl::registration::ConvergenceCriteria::ConvergenceCriteria

(

)

[inline]

Empty constructor.

Definition at line 71 of file convergence_criteria.h.

virtual pcl::registration::ConvergenceCriteria::~ConvergenceCriteria

(

)

[inline, virtual]

Empty destructor.

Definition at line 74 of file convergence_criteria.h.

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Member Function Documentation

virtual bool pcl::registration::ConvergenceCriteria::hasConverged

(

)

[pure virtual]

Check if convergence has been reached.

Pure virtual.

Implemented in pcl::registration::DefaultConvergenceCriteria< Scalar >, and pcl::registration::DefaultConvergenceCriteria< float >.

pcl::registration::ConvergenceCriteria::operator bool

(

)

[inline]

Bool operator.

Definition at line 81 of file convergence_criteria.h.

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

• /builddir/build/BUILD/pcl-pcl-1.7.1/registration/include/pcl/registration/convergence_criteria.h