open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria Class Reference

Convergence criteria of GlobalOptimization. More...

#include <GlobalOptimizationConvergenceCriteria.h>

Public Member Functions
	GlobalOptimizationConvergenceCriteria (int max_iteration=100, double min_relative_increment=1e-6, double min_relative_residual_increment=1e-6, double min_right_term=1e-6, double min_residual=1e-6, int max_iteration_lm=20, double upper_scale_factor=2./3., double lower_scale_factor=1./3.)
	Parameterized Constructor. More...
	~GlobalOptimizationConvergenceCriteria ()

Data Fields
int	max_iteration_
	Maximum iteration number for iterative optimization module. More...
double	min_relative_increment_
	Minimum relative increments. More...
double	min_relative_residual_increment_
	Minimum relative residual increments. More...
double	min_right_term_
	Minimum right term value. More...
double	min_residual_
	Minimum residual value. More...
int	max_iteration_lm_
	Maximum iteration number for Levenberg Marquardt method. More...
double	upper_scale_factor_
	Upper scale factor value. More...
double	lower_scale_factor_
	Lower scale factor value. More...

Detailed Description

Convergence criteria of GlobalOptimization.

Constructor & Destructor Documentation

GlobalOptimizationConvergenceCriteria()

open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::GlobalOptimizationConvergenceCriteria ( int  max_iteration = 100, double  min_relative_increment = 1e-6, double  min_relative_residual_increment = 1e-6, double  min_right_term = 1e-6, double  min_residual = 1e-6, int  max_iteration_lm = 20, double  upper_scale_factor = 2. / 3., double  lower_scale_factor = 1. / 3.  )

inline

Parameterized Constructor.

Parameters

max_iteration	Maximum iteration number.
min_relative_increment	Minimum relative increments.
min_relative_residual_increment	Minimum relative residual increments.
min_right_term	Minimum right term value.
min_residual	Minimum residual value.
max_iteration_lm	Maximum iteration number for Levenberg Marquardt method.
upper_scale_factor	Upper scale factor value.
lower_scale_factor	Lower scale factor value.

~GlobalOptimizationConvergenceCriteria()

open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::~GlobalOptimizationConvergenceCriteria ( )

inline

Field Documentation

lower_scale_factor_

double open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::lower_scale_factor_

Lower scale factor value.

max_iteration_

int open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::max_iteration_

Maximum iteration number for iterative optimization module.

max_iteration_lm_

int open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::max_iteration_lm_

Maximum iteration number for Levenberg Marquardt method.

max_iteration_lm_ is used for additional Levenberg-Marquardt inner loop that automatically changes steepest gradient gain.

min_relative_increment_

double open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::min_relative_increment_

Minimum relative increments.

Several convergence criteria to determine stability of iterative optimization.

min_relative_residual_increment_

double open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::min_relative_residual_increment_

Minimum relative residual increments.

min_residual_

double open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::min_residual_

Minimum residual value.

min_right_term_

double open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::min_right_term_

Minimum right term value.

upper_scale_factor_

double open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::upper_scale_factor_

Upper scale factor value.

Scaling factors are used for levenberg marquardt algorithm these are scaling factors that increase/decrease lambda used in H_LM = H + lambda * I

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

• /home/runner/work/Open3D/Open3D/cpp/open3d/pipelines/registration/GlobalOptimizationConvergenceCriteria.h (b9e049c (Sun Dec 31 11:36:26 2023 -0800))