open3d::registration::GlobalOptimizationConvergenceCriteria Class Reference

#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.)
	~GlobalOptimizationConvergenceCriteria ()

Data Fields
int	max_iteration_
	maximum iteration number for iterative optmization module. More...
double	min_relative_increment_
double	min_relative_residual_increment_
double	min_right_term_
double	min_residual_
int	max_iteration_lm_
double	upper_scale_factor_
double	lower_scale_factor_

Constructor & Destructor Documentation

GlobalOptimizationConvergenceCriteria()

open3d::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

~GlobalOptimizationConvergenceCriteria()

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

inline

Field Documentation

lower_scale_factor_

double open3d::registration::GlobalOptimizationConvergenceCriteria::lower_scale_factor_

max_iteration_

int open3d::registration::GlobalOptimizationConvergenceCriteria::max_iteration_

maximum iteration number for iterative optmization module.

max_iteration_lm_

int open3d::registration::GlobalOptimizationConvergenceCriteria::max_iteration_lm_

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

min_relative_increment_

double open3d::registration::GlobalOptimizationConvergenceCriteria::min_relative_increment_

several convergence criteria to determine stability of iterative optimization

min_relative_residual_increment_

double open3d::registration::GlobalOptimizationConvergenceCriteria::min_relative_residual_increment_

min_residual_

double open3d::registration::GlobalOptimizationConvergenceCriteria::min_residual_

min_right_term_

double open3d::registration::GlobalOptimizationConvergenceCriteria::min_right_term_

upper_scale_factor_

double open3d::registration::GlobalOptimizationConvergenceCriteria::upper_scale_factor_

below two variables 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/ylao/repo/Open3D/src/Open3D/Registration/GlobalOptimizationConvergenceCriteria.h