 DefaultConvergenceCriteria represents an instantiation of ConvergenceCriteria, and implements the following criteria for registration loop evaluation: More... #include <pcl/registration/default_convergence_criteria.h>         
  
 Public Types 
enum 

ConvergenceState {  CONVERGENCE_CRITERIA_NOT_CONVERGED, CONVERGENCE_CRITERIA_ITERATIONS, CONVERGENCE_CRITERIA_TRANSFORM, CONVERGENCE_CRITERIA_ABS_MSE,  CONVERGENCE_CRITERIA_REL_MSE, CONVERGENCE_CRITERIA_NO_CORRESPONDENCES, CONVERGENCE_CRITERIA_FAILURE_AFTER_MAX_ITERATIONS  }
   
using 

Ptr = shared_ptr< DefaultConvergenceCriteria< Scalar > >
   
using 

ConstPtr = shared_ptr< const DefaultConvergenceCriteria< Scalar > >
   
using 

Matrix4 = Eigen8b7c:f320:99b9:690f:4595:cd17:293a:c069Matrix< Scalar, 4, 4 >
   
 Public Types inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069onvergenceCriteria
 
using 

Ptr = shared_ptr< ConvergenceCriteria >
   
using 

ConstPtr = shared_ptr< const ConvergenceCriteria >
   
 
 Public Member Functions 
 

DefaultConvergenceCriteria (const int &iterations, const Matrix4 &transform, const pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069orrespondences &correspondences)
 
 
Empty constructor. More...

   
 

~DefaultConvergenceCriteria ()
 
 
Empty destructor. More...

   
void 

setMaximumIterationsSimilarTransforms (const int nr_iterations)
 
 
Set the maximum number of consecutive iterations that the internal rotation, translation, and MSE differences are allowed to be similar. More...

   
int 

getMaximumIterationsSimilarTransforms () const
 
 
Get the maximum number of consecutive iterations that the internal rotation, translation, and MSE differences are allowed to be similar, as set by the user. More...

   
void 

setMaximumIterations (const int nr_iterations)
 
 
Set the maximum number of iterations the internal optimization should run for. More...

   
int 

getMaximumIterations () const
 
 
Get the maximum number of iterations the internal optimization should run for, as set by the user. More...

   
void 

setFailureAfterMaximumIterations (const bool failure_after_max_iter)
 
 
Specifies if the registration fails or converges when the maximum number of iterations is reached. More...

   
bool 

getFailureAfterMaximumIterations () const
 
 
Get whether the registration will fail or converge when the maximum number of iterations is reached. More...

   
void 

setRotationThreshold (const double threshold)
 
 
Set the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More...

   
double 

getRotationThreshold () const
 
 
Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) as set by the user. More...

   
void 

setTranslationThreshold (const double threshold)
 
 
Set the translation threshold (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More...

   
double 

getTranslationThreshold () const
 
 
Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) as set by the user. More...

   
void 

setRelativeMSE (const double mse_relative)
 
 
Set the relative MSE between two consecutive sets of correspondences. More...

   
double 

getRelativeMSE () const
 
 
Get the relative MSE between two consecutive sets of correspondences. More...

   
void 

setAbsoluteMSE (const double mse_absolute)
 
 
Set the absolute MSE between two consecutive sets of correspondences. More...

   
double 

getAbsoluteMSE () const
 
 
Get the absolute MSE between two consecutive sets of correspondences. More...

   
bool 

hasConverged () override
 
 
Check if convergence has been reached. More...

   

ConvergenceState 

getConvergenceState ()
 
 
Return the convergence state after hasConverged () More...

   
void 

setConvergenceState (ConvergenceState c)
 
 
Sets the convergence state externally (for example, when ICP does not find enough correspondences to estimate a transformation, the function is called setting the convergence state to ConvergenceStat8b7c:f320:99b9:690f:4595:cd17:293a:c069CONVERGENCE_CRITERIA_NO_CORRESPONDENCES) More...

   
 Public Member Functions inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069onvergenceCriteria
 
 

ConvergenceCriteria ()
 
 
Empty constructor. More...

   
virtual 

~ConvergenceCriteria ()
 
 
Empty destructor. More...

   
 

operator bool ()
 
 
Bool operator. More...

   
 
 Protected Member Functions 
double 

calculateMSE (const pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069orrespondences &correspondences) const
 
 
Calculate the mean squared error (MSE) of the distance for a given set of correspondences. More...

   
 
 Protected Attributes 
const int & 
iterations_
 
 
The number of iterations done by the registration loop so far. More...

   
const Matrix4 & 
transformation_
 
 
The current transformation obtained by the transformation estimation method. More...

   
const pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069orrespondences & 
correspondences_
 
 
The current set of point correspondences between the source and the target. More...

   
double 
correspondences_prev_mse_
 
 
The MSE for the previous set of correspondences. More...

   
double 
correspondences_cur_mse_
 
 
The MSE for the current set of correspondences. More...

   
int 
max_iterations_
 
 
The maximum nuyyGmber of iterations that the registration loop is to be executed. More...

   
bool 
failure_after_max_iter_
 
 
Specifys if the registration fails or converges when the maximum number of iterations is reached. More...

   
double 
rotation_threshold_
 
 
The rotation threshold is the relative rotation between two iterations (as angle cosine). More...

   
double 
translation_threshold_
 
 
The translation threshold is the relative translation between two iterations (0 if no translation). More...

   
double 
mse_threshold_relative_
 
 
The relative change from the previous MSE for the current set of correspondences, e.g. More...

   
double 
mse_threshold_absolute_
 
 
The absolute change from the previous MSE for the current set of correspondences. More...

   
int 
iterations_similar_transforms_
 
 
Internal counter for the number of iterations that the internal rotation, translation, and MSE differences are allowed to be similar. More...

   
int 
max_iterations_similar_transforms_
 
 
The maximum number of iterations that the internal rotation, translation, and MSE differences are allowed to be similar. More...

   

ConvergenceState 
convergence_state_
 
 
The state of the convergence (e.g., why did the registration converge). More...

    Detailed Description 
template<typename Scalar = float> class pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar > DefaultConvergenceCriteria represents an instantiation of ConvergenceCriteria, and implements the following criteria for registration loop evaluation:   a maximum number of iterations has been reached the transformation (R, t) cannot be further updated (the difference between current and previous is smaller than a threshold) the Mean Squared Error (MSE) between the current set of correspondences and the previous one is smaller than some threshold (both relative and absolute tests)  
Note
Convergence is considered reached if ANY of the above criteria are met.
 
Author
Radu B. Rusu 
 Definition at line 65 of file default_convergence_criteria.h. 
Member Typedef Documentation  ConstPtr    template<typename Scalar = float>    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069onstPtr = shared_ptr<const DefaultConvergenceCriteria<Scalar> >   
 Definition at line 68 of file default_convergence_criteria.h.    Matrix4    template<typename Scalar = float>    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069Matrix4 = Eigen8b7c:f320:99b9:690f:4595:cd17:293a:c069Matrix<Scalar, 4, 4>   
 Definition at line 70 of file default_convergence_criteria.h.    Ptr    template<typename Scalar = float>    using pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr = shared_ptr<DefaultConvergenceCriteria<Scalar> >   
 Definition at line 67 of file default_convergence_criteria.h.   Member Enumeration Documentation  ConvergenceState    template<typename Scalar = float>    enum pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteri8b7c:f320:99b9:690f:4595:cd17:293a:c069ConvergenceState
   
  Enumerator


CONVERGENCE_CRITERIA_NOT_CONVERGED 

 

CONVERGENCE_CRITERIA_ITERATIONS 

 

CONVERGENCE_CRITERIA_TRANSFORM 

 

CONVERGENCE_CRITERIA_ABS_MSE 

 

CONVERGENCE_CRITERIA_REL_MSE 

 

CONVERGENCE_CRITERIA_NO_CORRESPONDENCES 

 

CONVERGENCE_CRITERIA_FAILURE_AFTER_MAX_ITERATIONS 

  Definition at line 72 of file default_convergence_criteria.h.   Constructor & Destructor Documentation  DefaultConvergenceCriteria()    template<typename Scalar = float>       
pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria  ( const int &  
iterations,      const Matrix4 &  
transform,      const pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069orrespondences &  
correspondences     ) 
     inline    
 Empty constructor.  Sets:
 the maximum number of iterations to 1000 the rotation threshold to 0.256 degrees (0.99999) the translation threshold to 0.0003 meters (3e-4^2) the MSE relative / absolute thresholds to 0.001% and 1e-12  
Parameters
  
[in]
iterations
a reference to the number of iterations the loop has ran so far
 
[in]
transform
a reference to the current transformation obtained by the transformation evaluation
 
[in]
correspondences
a reference to the current set of point correspondences between source and target 
    Definition at line 94 of file default_convergence_criteria.h.    ~DefaultConvergenceCriteria()    template<typename Scalar = float>       
pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069~DefaultConvergenceCriteria  ( 
)      inline    
 Empty destructor.  Definition at line 114 of file default_convergence_criteria.h.   Member Function Documentation  calculateMSE()    template<typename Scalar = float>       double pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069lculateMSE  ( const pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069orrespondences &  correspondences
)  const     inlineprotected    
 Calculate the mean squared error (MSE) of the distance for a given set of correspondences.  
Parameters
  
[in]
correspondences
the given set of correspondences 
    Definition at line 273 of file default_convergence_criteria.h.    getAbsoluteMSE()    template<typename Scalar = float>       double pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069getAbsoluteMSE  ( 
)  const     inline    
 Get the absolute MSE between two consecutive sets of correspondences.  Definition at line 241 of file default_convergence_criteria.h.    getConvergenceState()    template<typename Scalar = float>       
ConvergenceState pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069getConvergenceState  ( 
)      inline    
 Return the convergence state after hasConverged ()  Definition at line 252 of file default_convergence_criteria.h.    getFailureAfterMaximumIterations()    template<typename Scalar = float>       bool pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069getFailureAfterMaximumIterations  ( 
)  const     inline    
 Get whether the registration will fail or converge when the maximum number of iterations is reached.  Definition at line 167 of file default_convergence_criteria.h.    getMaximumIterations()    template<typename Scalar = float>       int pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069getMaximumIterations  ( 
)  const     inline    
 Get the maximum number of iterations the internal optimization should run for, as set by the user.  Definition at line 149 of file default_convergence_criteria.h.    getMaximumIterationsSimilarTransforms()    template<typename Scalar = float>       int pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069getMaximumIterationsSimilarTransforms  ( 
)  const     inline    
 Get the maximum number of consecutive iterations that the internal rotation, translation, and MSE differences are allowed to be similar, as set by the user.  Definition at line 131 of file default_convergence_criteria.h.    getRelativeMSE()    template<typename Scalar = float>       double pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069getRelativeMSE  ( 
)  const     inline    
 Get the relative MSE between two consecutive sets of correspondences.  Definition at line 225 of file default_convergence_criteria.h.    getRotationThreshold()    template<typename Scalar = float>       double pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069getRotationThreshold  ( 
)  const     inline    
 Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) as set by the user.  Definition at line 188 of file default_convergence_criteria.h.    getTranslationThreshold()    template<typename Scalar = float>       double pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069getTranslationThreshold  ( 
)  const     inline    
 Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) as set by the user.  Definition at line 209 of file default_convergence_criteria.h.    hasConverged()    template<typename Scalar >       bool pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069hasConverged     overridevirtual    
 Check if convergence has been reached.  Implements pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069onvergenceCriteria. Definition at line 51 of file default_convergence_criteria.hpp.    setAbsoluteMSE()    template<typename Scalar = float>       void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069setAbsoluteMSE  ( const double  mse_absolute
)      inline    
 Set the absolute MSE between two consecutive sets of correspondences.  
Parameters
  
[in]
mse_absolute
the relative MSE threshold 
    Definition at line 234 of file default_convergence_criteria.h.    setConvergenceState()    template<typename Scalar = float>       void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069setConvergenceState  ( 
ConvergenceState  c
)      inline    
 Sets the convergence state externally (for example, when ICP does not find enough correspondences to estimate a transformation, the function is called setting the convergence state to ConvergenceStat8b7c:f320:99b9:690f:4595:cd17:293a:c069CONVERGENCE_CRITERIA_NO_CORRESPONDENCES)  
Parameters
  
[in]
c
the convergence state 
    Definition at line 263 of file default_convergence_criteria.h.    setFailureAfterMaximumIterations()    template<typename Scalar = float>       void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069setFailureAfterMaximumIterations  ( const bool  failure_after_max_iter
)      inline    
 Specifies if the registration fails or converges when the maximum number of iterations is reached.  
Parameters
  
[in]
failure_after_max_iter
If true, the registration fails. If false, the registration is assumed to have converged. 
    Definition at line 159 of file default_convergence_criteria.h.    setMaximumIterations()    template<typename Scalar = float>       void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069setMaximumIterations  ( const int  nr_iterations
)      inline    
 Set the maximum number of iterations the internal optimization should run for.  
Parameters
  
[in]
nr_iterations
the maximum number of iterations the internal optimization should run for 
    Definition at line 141 of file default_convergence_criteria.h.    setMaximumIterationsSimilarTransforms()    template<typename Scalar = float>       void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069setMaximumIterationsSimilarTransforms  ( const int  nr_iterations
)      inline    
 Set the maximum number of consecutive iterations that the internal rotation, translation, and MSE differences are allowed to be similar.  
Parameters
  
[in]
nr_iterations
the maximum number of iterations 
    Definition at line 121 of file default_convergence_criteria.h.    setRelativeMSE()    template<typename Scalar = float>       void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069setRelativeMSE  ( const double  mse_relative
)      inline    
 Set the relative MSE between two consecutive sets of correspondences.  
Parameters
  
[in]
mse_relative
the relative MSE threshold 
    Definition at line 218 of file default_convergence_criteria.h.    setRotationThreshold()    template<typename Scalar = float>       void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069setRotationThreshold  ( const double  threshold
)      inline    
 Set the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.  
Parameters
  
[in]
threshold
the rotation threshold in order for an optimization to be considered as having converged to the final solution. 
    Definition at line 179 of file default_convergence_criteria.h.    setTranslationThreshold()    template<typename Scalar = float>       void pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069setTranslationThreshold  ( const double  threshold
)      inline    
 Set the translation threshold (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.  
Parameters
  
[in]
threshold
the translation threshold in order for an optimization to be considered as having converged to the final solution. 
    Definition at line 200 of file default_convergence_criteria.h.   Member Data Documentation  convergence_state_    template<typename Scalar = float>       
ConvergenceState pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069onvergence_state_     protected    
 The state of the convergence (e.g., why did the registration converge).  Definition at line 332 of file default_convergence_criteria.h. Referenced by pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069getConvergenceState(), and pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069setConvergenceState().    correspondences_    template<typename Scalar = float>       const pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069orrespondences& pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069orrespondences_     protected    
 The current set of point correspondences between the source and the target.  Definition at line 291 of file default_convergence_criteria.h.    correspondences_cur_mse_    template<typename Scalar = float>       double pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069orrespondences_cur_mse_     protected    
 The MSE for the current set of correspondences.  Definition at line 297 of file default_convergence_criteria.h.    correspondences_prev_mse_    template<typename Scalar = float>       double pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069orrespondences_prev_mse_     protected    
 The MSE for the previous set of correspondences.  Definition at line 294 of file default_convergence_criteria.h.    failure_after_max_iter_    template<typename Scalar = float>       bool pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069ilure_after_max_iter_     protected    
 Specifys if the registration fails or converges when the maximum number of iterations is reached.  Definition at line 305 of file default_convergence_criteria.h. Referenced by pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069getFailureAfterMaximumIterations(), and pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069setFailureAfterMaximumIterations().    iterations_    template<typename Scalar = float>       const int& pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069iterations_     protected    
 The number of iterations done by the registration loop so far.  Definition at line 283 of file default_convergence_criteria.h.    iterations_similar_transforms_    template<typename Scalar = float>       int pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069iterations_similar_transforms_     protected    
 Internal counter for the number of iterations that the internal rotation, translation, and MSE differences are allowed to be similar.  Definition at line 325 of file default_convergence_criteria.h.    max_iterations_    template<typename Scalar = float>       int pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069max_iterations_     protected    
 The maximum nuyyGmber of iterations that the registration loop is to be executed.  Definition at line 301 of file default_convergence_criteria.h. Referenced by pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069getMaximumIterations(), and pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069setMaximumIterations().    max_iterations_similar_transforms_    template<typename Scalar = float>       int pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069max_iterations_similar_transforms_     protected    
 The maximum number of iterations that the internal rotation, translation, and MSE differences are allowed to be similar.  Definition at line 329 of file default_convergence_criteria.h. Referenced by pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069getMaximumIterationsSimilarTransforms(), and pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069setMaximumIterationsSimilarTransforms().    mse_threshold_absolute_    template<typename Scalar = float>       double pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069mse_threshold_absolute_     protected    
 The absolute change from the previous MSE for the current set of correspondences.  Definition at line 321 of file default_convergence_criteria.h. Referenced by pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069getAbsoluteMSE(), and pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069setAbsoluteMSE().    mse_threshold_relative_    template<typename Scalar = float>       double pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069mse_threshold_relative_     protected    
 The relative change from the previous MSE for the current set of correspondences, e.g.  .1 means 10% change.  Definition at line 317 of file default_convergence_criteria.h. Referenced by pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069getRelativeMSE(), and pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069setRelativeMSE().    rotation_threshold_    template<typename Scalar = float>       double pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069rotation_threshold_     protected    
 The rotation threshold is the relative rotation between two iterations (as angle cosine).  Definition at line 309 of file default_convergence_criteria.h. Referenced by pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069getRotationThreshold(), and pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069setRotationThreshold().    transformation_    template<typename Scalar = float>       const Matrix4& pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069transformation_     protected    
 The current transformation obtained by the transformation estimation method.  Definition at line 287 of file default_convergence_criteria.h.    translation_threshold_    template<typename Scalar = float>       double pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< Scalar >8b7c:f320:99b9:690f:4595:cd17:293a:c069translation_threshold_     protected    
 The translation threshold is the relative translation between two iterations (0 if no translation).  Definition at line 313 of file default_convergence_criteria.h. Referenced by pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069getTranslationThreshold(), and pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069registration8b7c:f320:99b9:690f:4595:cd17:293a:c069ultConvergenceCriteria< float >8b7c:f320:99b9:690f:4595:cd17:293a:c069setTranslationThreshold().   The documentation for this class was generated from the following files: pcl/registration/default_convergence_criteria.h
 pcl/registration/impl/default_convergence_criteria.hpp
  

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