30 namespace registration {
35 double edge_prune_threshold = 0.25,
36 double preference_loop_closure = 1.0,
37 int reference_node = -1)
44 : max_correspondence_distance;
46 edge_prune_threshold < 0.0 || edge_prune_threshold > 1.0
48 : edge_prune_threshold;
50 preference_loop_closure < 0.0 ? 1.0 : preference_loop_closure;
75 int max_iteration = 100,
76 double min_relative_increment = 1e-6,
77 double min_relative_residual_increment = 1e-6,
78 double min_right_term = 1e-6,
79 double min_residual = 1e-6,
80 int max_iteration_lm = 20,
81 double upper_scale_factor = 2. / 3.,
82 double lower_scale_factor = 1. / 3.)
83 : max_iteration_(max_iteration),
84 min_relative_increment_(min_relative_increment),
85 min_relative_residual_increment_(min_relative_residual_increment),
86 min_right_term_(min_right_term),
87 min_residual_(min_residual),
88 max_iteration_lm_(max_iteration_lm),
89 upper_scale_factor_(upper_scale_factor),
90 lower_scale_factor_(lower_scale_factor) {
92 upper_scale_factor < 0.0 || upper_scale_factor > 1.0
96 lower_scale_factor < 0.0 || lower_scale_factor > 1.0
int max_iteration_lm_
Definition: GlobalOptimizationConvergenceCriteria.h:113
GlobalOptimizationOption(double max_correspondence_distance=0.075, double edge_prune_threshold=0.25, double preference_loop_closure=1.0, int reference_node=-1)
Definition: GlobalOptimizationConvergenceCriteria.h:34
Definition: GlobalOptimizationConvergenceCriteria.h:72
double preference_loop_closure_
Definition: GlobalOptimizationConvergenceCriteria.h:67
double min_right_term_
Definition: GlobalOptimizationConvergenceCriteria.h:109
double min_relative_increment_
Definition: GlobalOptimizationConvergenceCriteria.h:107
double lower_scale_factor_
Definition: GlobalOptimizationConvergenceCriteria.h:118
double edge_prune_threshold_
Definition: GlobalOptimizationConvergenceCriteria.h:62
double upper_scale_factor_
Definition: GlobalOptimizationConvergenceCriteria.h:117
int reference_node_
The pose of this node is unchanged after optimization.
Definition: GlobalOptimizationConvergenceCriteria.h:69
Definition: GlobalOptimizationConvergenceCriteria.h:32
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.)
Definition: GlobalOptimizationConvergenceCriteria.h:74
Definition: PinholeCameraIntrinsic.cpp:34
int max_iteration_
maximum iteration number for iterative optmization module.
Definition: GlobalOptimizationConvergenceCriteria.h:104
double min_relative_residual_increment_
Definition: GlobalOptimizationConvergenceCriteria.h:108
~GlobalOptimizationConvergenceCriteria()
Definition: GlobalOptimizationConvergenceCriteria.h:100
~GlobalOptimizationOption()
Definition: GlobalOptimizationConvergenceCriteria.h:52
double min_residual_
Definition: GlobalOptimizationConvergenceCriteria.h:110
double max_correspondence_distance_
Definition: GlobalOptimizationConvergenceCriteria.h:59