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convergence_criteria.h
/*
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#pragma once
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
namespace pcl {
namespace registration {
/** \brief @b 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
* \ingroup registration
*/
class PCL_EXPORTS ConvergenceCriteria {
public:
using Ptr = shared_ptr<ConvergenceCriteria>;
using ConstPtr = shared_ptr<const ConvergenceCriteria>;
/** \brief Empty constructor. */
ConvergenceCriteria() = default;
/** \brief Empty destructor. */
virtual ~ConvergenceCriteria() = default;
/** \brief Check if convergence has been reached. Pure virtual. */
virtual bool
hasConverged() = 0;
/** \brief Bool operator. */
operator bool() { return (hasConverged()); }
};
} // namespace registration
} // namespace pcl
pcl::registration::ConvergenceCriteria::hasConverged
virtual bool hasConverged()=0
Check if convergence has been reached.
pcl::registration::ConvergenceCriteria::~ConvergenceCriteria
virtual ~ConvergenceCriteria()=default
Empty destructor.
pcl::registration::ConvergenceCriteria::Ptr
shared_ptr< ConvergenceCriteria > Ptr
Definition convergence_criteria.h:66
pcl::registration::ConvergenceCriteria::ConvergenceCriteria
ConvergenceCriteria()=default
Empty constructor.
pcl::registration::ConvergenceCriteria::ConstPtr
shared_ptr< const ConvergenceCriteria > ConstPtr
Definition convergence_criteria.h:67
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl::registration
Definition convergence_criteria.h:46
pcl
Definition convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.