31 namespace registration {
51 double edge_prune_threshold = 0.25,
52 double preference_loop_closure = 1.0,
53 int reference_node = -1)
60 : max_correspondence_distance;
62 edge_prune_threshold < 0.0 || edge_prune_threshold > 1.0
64 : edge_prune_threshold;
66 preference_loop_closure < 0.0 ? 1.0 : preference_loop_closure;
104 int max_iteration = 100,
105 double min_relative_increment = 1e-6,
106 double min_relative_residual_increment = 1e-6,
107 double min_right_term = 1e-6,
108 double min_residual = 1e-6,
109 int max_iteration_lm = 20,
110 double upper_scale_factor = 2. / 3.,
111 double lower_scale_factor = 1. / 3.)
112 : max_iteration_(max_iteration),
113 min_relative_increment_(min_relative_increment),
114 min_relative_residual_increment_(min_relative_residual_increment),
115 min_right_term_(min_right_term),
116 min_residual_(min_residual),
117 max_iteration_lm_(max_iteration_lm),
118 upper_scale_factor_(upper_scale_factor),
119 lower_scale_factor_(lower_scale_factor) {
120 upper_scale_factor_ =
121 upper_scale_factor < 0.0 || upper_scale_factor > 1.0
123 : upper_scale_factor;
124 lower_scale_factor_ =
125 lower_scale_factor < 0.0 || lower_scale_factor > 1.0
127 : lower_scale_factor;
~GlobalOptimizationOption()
Definition: GlobalOptimizationConvergenceCriteria.h:68
double edge_prune_threshold_
Definition: GlobalOptimizationConvergenceCriteria.h:78
double min_relative_increment_
Minimum relative increments.
Definition: GlobalOptimizationConvergenceCriteria.h:138
int max_iteration_
Maximum iteration number for iterative optimization module.
Definition: GlobalOptimizationConvergenceCriteria.h:133
int max_iteration_lm_
Maximum iteration number for Levenberg Marquardt method.
Definition: GlobalOptimizationConvergenceCriteria.h:149
int reference_node_
The pose of this node is unchanged after optimization.
Definition: GlobalOptimizationConvergenceCriteria.h:85
double preference_loop_closure_
Definition: GlobalOptimizationConvergenceCriteria.h:83
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.
Definition: GlobalOptimizationConvergenceCriteria.h:103
double upper_scale_factor_
Upper scale factor value.
Definition: GlobalOptimizationConvergenceCriteria.h:155
Option for GlobalOptimization.
Definition: GlobalOptimizationConvergenceCriteria.h:36
double max_correspondence_distance_
Definition: GlobalOptimizationConvergenceCriteria.h:75
double lower_scale_factor_
Lower scale factor value.
Definition: GlobalOptimizationConvergenceCriteria.h:157
double min_right_term_
Minimum right term value.
Definition: GlobalOptimizationConvergenceCriteria.h:142
double min_residual_
Minimum residual value.
Definition: GlobalOptimizationConvergenceCriteria.h:144
GlobalOptimizationOption(double max_correspondence_distance=0.075, double edge_prune_threshold=0.25, double preference_loop_closure=1.0, int reference_node=-1)
Parameterized Constructor.
Definition: GlobalOptimizationConvergenceCriteria.h:50
Definition: PinholeCameraIntrinsic.cpp:35
Convergence criteria of GlobalOptimization.
Definition: GlobalOptimizationConvergenceCriteria.h:91
double min_relative_residual_increment_
Minimum relative residual increments.
Definition: GlobalOptimizationConvergenceCriteria.h:140
~GlobalOptimizationConvergenceCriteria()
Definition: GlobalOptimizationConvergenceCriteria.h:129