Point Cloud Library (PCL) 1.12.0
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default_convergence_criteria.hpp
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39
40#ifndef PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_HPP_
41#define PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_HPP_
42
43#include <pcl/console/print.h>
44
45namespace pcl {
46
47namespace registration {
48
49template <typename Scalar>
50bool
52{
53 if (convergence_state_ != CONVERGENCE_CRITERIA_NOT_CONVERGED) {
54 // If it already converged or failed before, reset.
55 iterations_similar_transforms_ = 0;
56 convergence_state_ = CONVERGENCE_CRITERIA_NOT_CONVERGED;
57 }
58
59 bool is_similar = false;
60
61 PCL_DEBUG("[pcl::DefaultConvergenceCriteria::hasConverged] Iteration %d out of %d.\n",
62 iterations_,
63 max_iterations_);
64 // 1. Number of iterations has reached the maximum user imposed number of iterations
65 if (iterations_ >= max_iterations_) {
66 if (!failure_after_max_iter_) {
67 convergence_state_ = CONVERGENCE_CRITERIA_ITERATIONS;
68 return (true);
69 }
70 convergence_state_ = CONVERGENCE_CRITERIA_FAILURE_AFTER_MAX_ITERATIONS;
71 }
72
73 // 2. The epsilon (difference) between the previous transformation and the current
74 // estimated transformation
75 double cos_angle = 0.5 * (transformation_.coeff(0, 0) + transformation_.coeff(1, 1) +
76 transformation_.coeff(2, 2) - 1);
77 double translation_sqr = transformation_.coeff(0, 3) * transformation_.coeff(0, 3) +
78 transformation_.coeff(1, 3) * transformation_.coeff(1, 3) +
79 transformation_.coeff(2, 3) * transformation_.coeff(2, 3);
80 PCL_DEBUG("[pcl::DefaultConvergenceCriteria::hasConverged] Current transformation "
81 "gave %f rotation (cosine) and %f translation.\n",
84
85 if (cos_angle >= rotation_threshold_ && translation_sqr <= translation_threshold_) {
86 if (iterations_similar_transforms_ >= max_iterations_similar_transforms_) {
87 convergence_state_ = CONVERGENCE_CRITERIA_TRANSFORM;
88 return (true);
89 }
90 is_similar = true;
91 }
92
93 correspondences_cur_mse_ = calculateMSE(correspondences_);
94 PCL_DEBUG("[pcl::DefaultConvergenceCriteria::hasConverged] Previous / Current MSE "
95 "for correspondences distances is: %f / %f.\n",
96 correspondences_prev_mse_,
97 correspondences_cur_mse_);
98
99 // 3. The relative sum of Euclidean squared errors is smaller than a user defined
100 // threshold Absolute
101 if (std::abs(correspondences_cur_mse_ - correspondences_prev_mse_) <
102 mse_threshold_absolute_) {
103 if (iterations_similar_transforms_ >= max_iterations_similar_transforms_) {
104 convergence_state_ = CONVERGENCE_CRITERIA_ABS_MSE;
105 return (true);
106 }
107 is_similar = true;
108 }
109
110 // Relative
111 if (std::abs(correspondences_cur_mse_ - correspondences_prev_mse_) /
112 correspondences_prev_mse_ <
113 mse_threshold_relative_) {
114 if (iterations_similar_transforms_ >= max_iterations_similar_transforms_) {
115 convergence_state_ = CONVERGENCE_CRITERIA_REL_MSE;
116 return (true);
117 }
118 is_similar = true;
119 }
120
121 if (is_similar) {
122 // Increment the number of transforms that the thresholds are allowed to be similar
123 ++iterations_similar_transforms_;
124 }
125 else {
126 // When the transform becomes large, reset.
127 iterations_similar_transforms_ = 0;
128 }
129
130 correspondences_prev_mse_ = correspondences_cur_mse_;
131
132 return (false);
133}
134
135} // namespace registration
136} // namespace pcl
137
138#endif // PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_HPP_
Iterator class for point clouds with or without given indices.
bool hasConverged() override
Check if convergence has been reached.