84 lines
3.0 KiB
C
84 lines
3.0 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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namespace pcl {
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namespace registration {
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/** \brief @b ConvergenceCriteria represents an abstract base class for
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* different convergence criteria used in registration loops.
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*
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* This should be used as part of an Iterative Closest Point (ICP)-like
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* method, to verify if the algorithm has reached convergence.
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*
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* Typical convergence criteria that could inherit from this include:
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*
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* * a maximum number of iterations has been reached
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* * the transformation (R, t) cannot be further updated (the difference between
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* current and previous is smaller than a threshold)
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* * the Mean Squared Error (MSE) between the current set of correspondences and the
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* previous one is smaller than some threshold
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*
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* \author Radu B. Rusu
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* \ingroup registration
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*/
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class PCL_EXPORTS ConvergenceCriteria {
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public:
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using Ptr = shared_ptr<ConvergenceCriteria>;
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using ConstPtr = shared_ptr<const ConvergenceCriteria>;
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/** \brief Empty constructor. */
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ConvergenceCriteria() {}
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/** \brief Empty destructor. */
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virtual ~ConvergenceCriteria() {}
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/** \brief Check if convergence has been reached. Pure virtual. */
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virtual bool
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hasConverged() = 0;
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/** \brief Bool operator. */
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operator bool() { return (hasConverged()); }
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};
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} // namespace registration
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} // namespace pcl
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