Open3D (C++ API)
Public Member Functions | Data Fields
open3d::registration::ICPConvergenceCriteria Class Reference

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_fitnessIf relative change (difference) of fitness score is lower than relative_fitness, the iteration stops.
relative_rmseIf relative change (difference) of inliner RMSE score is lower than relative_rmse, the iteration stops.
max_iterationMaximum 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: