Point Cloud Library (PCL)  1.7.1
convergence_criteria.h
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39 
40 #ifndef PCL_REGISTRATION_CONVERGENCE_CRIERIA_H_
41 #define PCL_REGISTRATION_CONVERGENCE_CRIERIA_H_
42 
43 #include <pcl/pcl_macros.h>
44 
45 namespace pcl
46 {
47  namespace registration
48  {
49  /** \brief @b ConvergenceCriteria represents an abstract base class for
50  * different convergence criteria used in registration loops.
51  *
52  * This should be used as part of an Iterative Closest Point (ICP)-like
53  * method, to verify if the algorithm has reached convergence.
54  *
55  * Typical convergence criteria that could inherit from this include:
56  *
57  * * a maximum number of iterations has been reached
58  * * the transformation (R, t) cannot be further updated (the difference between current and previous is smaller than a threshold)
59  * * the Mean Squared Error (MSE) between the current set of correspondences and the previous one is smaller than some threshold
60  *
61  * \author Radu B. Rusu
62  * \ingroup registration
63  */
64  class PCL_EXPORTS ConvergenceCriteria
65  {
66  public:
67  typedef boost::shared_ptr<ConvergenceCriteria> Ptr;
68  typedef boost::shared_ptr<const ConvergenceCriteria> ConstPtr;
69 
70  /** \brief Empty constructor. */
72 
73  /** \brief Empty destructor. */
74  virtual ~ConvergenceCriteria () {}
75 
76  /** \brief Check if convergence has been reached. Pure virtual. */
77  virtual bool
78  hasConverged () = 0;
79 
80  /** \brief Bool operator. */
81  operator bool ()
82  {
83  return (hasConverged ());
84  }
85  };
86  }
87 }
88 
89 #endif // PCL_REGISTRATION_CONVERGENCE_CRIERIA_H_
90