default_convergence_criteria.hpp
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#ifndef PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_HPP_
#define PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_HPP_
#include <pcl/console/print.h>
namespace pcl {
namespace registration {
template <typename Scalar>
bool
DefaultConvergenceCriteria<Scalar>::hasConverged()
{
if (convergence_state_ != CONVERGENCE_CRITERIA_NOT_CONVERGED) {
// If it already converged or failed before, reset.
iterations_similar_transforms_ = 0;
convergence_state_ = CONVERGENCE_CRITERIA_NOT_CONVERGED;
}
bool is_similar = false;
PCL_DEBUG("[pcl::DefaultConvergenceCriteria::hasConverged] Iteration %d out of %d.\n",
iterations_,
max_iterations_);
// 1. Number of iterations has reached the maximum user imposed number of iterations
if (iterations_ >= max_iterations_) {
if (!failure_after_max_iter_) {
convergence_state_ = CONVERGENCE_CRITERIA_ITERATIONS;
return (true);
}
convergence_state_ = CONVERGENCE_CRITERIA_FAILURE_AFTER_MAX_ITERATIONS;
}
// 2. The epsilon (difference) between the previous transformation and the current
// estimated transformation
double cos_angle = 0.5 * (transformation_.coeff(0, 0) + transformation_.coeff(1, 1) +
transformation_.coeff(2, 2) - 1);
double translation_sqr = transformation_.coeff(0, 3) * transformation_.coeff(0, 3) +
transformation_.coeff(1, 3) * transformation_.coeff(1, 3) +
transformation_.coeff(2, 3) * transformation_.coeff(2, 3);
PCL_DEBUG("[pcl::DefaultConvergenceCriteria::hasConverged] Current transformation "
"gave %f rotation (cosine) and %f translation.\n",
cos_angle,
translation_sqr);
if (cos_angle >= rotation_threshold_ && translation_sqr <= translation_threshold_) {
if (iterations_similar_transforms_ >= max_iterations_similar_transforms_) {
convergence_state_ = CONVERGENCE_CRITERIA_TRANSFORM;
return (true);
}
is_similar = true;
}
correspondences_cur_mse_ = calculateMSE(correspondences_);
PCL_DEBUG("[pcl::DefaultConvergenceCriteria::hasConverged] Previous / Current MSE "
"for correspondences distances is: %f / %f.\n",
correspondences_prev_mse_,
correspondences_cur_mse_);
// 3. The relative sum of Euclidean squared errors is smaller than a user defined
// threshold Absolute
if (std::abs(correspondences_cur_mse_ - correspondences_prev_mse_) <
mse_threshold_absolute_) {
if (iterations_similar_transforms_ >= max_iterations_similar_transforms_) {
convergence_state_ = CONVERGENCE_CRITERIA_ABS_MSE;
return (true);
}
is_similar = true;
}
// Relative
if (std::abs(correspondences_cur_mse_ - correspondences_prev_mse_) /
correspondences_prev_mse_ <
mse_threshold_relative_) {
if (iterations_similar_transforms_ >= max_iterations_similar_transforms_) {
convergence_state_ = CONVERGENCE_CRITERIA_REL_MSE;
return (true);
}
is_similar = true;
}
if (is_similar) {
// Increment the number of transforms that the thresholds are allowed to be similar
++iterations_similar_transforms_;
}
else {
// When the transform becomes large, reset.
iterations_similar_transforms_ = 0;
}
correspondences_prev_mse_ = correspondences_cur_mse_;
return (false);
}
} // namespace registration
} // namespace pcl
#endif // PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_HPP_
pcl::registration::DefaultConvergenceCriteria::hasConverged
bool hasConverged() override
Check if convergence has been reached.
Definition: default_convergence_criteria.hpp:51
pcl
Definition: convolution.h:46