Class that defines the convergence criteria of ICP. More...

#include <Registration.h>

Public Member Functions
	ICPConvergenceCriteria (double relative_fitness=1e-6, double relative_rmse=1e-6, int max_iteration=30)
	Parameterized Constructor. More...

	~ICPConvergenceCriteria ()

Data Fields
double	relative_fitness_

double	relative_rmse_

int	max_iteration_
	Maximum iteration before iteration stops. More...

Detailed Description

Class that defines the convergence criteria of ICP.

ICP algorithm stops if the relative change of fitness and rmse hit relative_fitness_ and relative_rmse_ individually, or the iteration number exceeds max_iteration_.

Constructor & Destructor Documentation

◆ ICPConvergenceCriteria()

open3d::registration::ICPConvergenceCriteria::ICPConvergenceCriteria	(	double	relative_fitness = `1e-6`,
		double	relative_rmse = `1e-6`,
		int	max_iteration = `30`
	)

inline

Parameterized Constructor.

Parameters

relative_fitness	If relative change (difference) of fitness score is lower than relative_fitness, the iteration stops.
relative_rmse	If relative change (difference) of inliner RMSE score is lower than relative_rmse, the iteration stops.
max_iteration	Maximum iteration before iteration stops.

◆ ~ICPConvergenceCriteria()

open3d::registration::ICPConvergenceCriteria::~ICPConvergenceCriteria ( )

inline

Field Documentation

◆ max_iteration_

int open3d::registration::ICPConvergenceCriteria::max_iteration_

Maximum iteration before iteration stops.

◆ relative_fitness_

double open3d::registration::ICPConvergenceCriteria::relative_fitness_

If relative change (difference) of fitness score is lower than relative_fitness, the iteration stops.

◆ relative_rmse_

double open3d::registration::ICPConvergenceCriteria::relative_rmse_

If relative change (difference) of inliner RMSE score is lower than relative_rmse, the iteration stops.

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

/home/yixing/repo/Open3D/src/Open3D/Registration/Registration.h

Public Member Functions

Data Fields