139 lines
5.1 KiB
C++
139 lines
5.1 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Point Cloud Library (PCL) - www.pointclouds.org
|
|
* Copyright (c) 2012-, Open Perception, Inc.
|
|
*
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of the copyright holder(s) nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
* $Id$
|
|
*
|
|
*/
|
|
|
|
#ifndef PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_HPP_
|
|
#define PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_HPP_
|
|
|
|
#include <pcl/console/print.h>
|
|
|
|
namespace pcl {
|
|
|
|
namespace registration {
|
|
|
|
template <typename Scalar>
|
|
bool
|
|
DefaultConvergenceCriteria<Scalar>::hasConverged()
|
|
{
|
|
if (convergence_state_ != CONVERGENCE_CRITERIA_NOT_CONVERGED) {
|
|
// If it already converged or failed before, reset.
|
|
iterations_similar_transforms_ = 0;
|
|
convergence_state_ = CONVERGENCE_CRITERIA_NOT_CONVERGED;
|
|
}
|
|
|
|
bool is_similar = false;
|
|
|
|
PCL_DEBUG("[pcl::DefaultConvergenceCriteria::hasConverged] Iteration %d out of %d.\n",
|
|
iterations_,
|
|
max_iterations_);
|
|
// 1. Number of iterations has reached the maximum user imposed number of iterations
|
|
if (iterations_ >= max_iterations_) {
|
|
if (!failure_after_max_iter_) {
|
|
convergence_state_ = CONVERGENCE_CRITERIA_ITERATIONS;
|
|
return (true);
|
|
}
|
|
convergence_state_ = CONVERGENCE_CRITERIA_FAILURE_AFTER_MAX_ITERATIONS;
|
|
}
|
|
|
|
// 2. The epsilon (difference) between the previous transformation and the current
|
|
// estimated transformation
|
|
double cos_angle = 0.5 * (transformation_.coeff(0, 0) + transformation_.coeff(1, 1) +
|
|
transformation_.coeff(2, 2) - 1);
|
|
double translation_sqr = transformation_.coeff(0, 3) * transformation_.coeff(0, 3) +
|
|
transformation_.coeff(1, 3) * transformation_.coeff(1, 3) +
|
|
transformation_.coeff(2, 3) * transformation_.coeff(2, 3);
|
|
PCL_DEBUG("[pcl::DefaultConvergenceCriteria::hasConverged] Current transformation "
|
|
"gave %f rotation (cosine) and %f translation.\n",
|
|
cos_angle,
|
|
translation_sqr);
|
|
|
|
if (cos_angle >= rotation_threshold_ && translation_sqr <= translation_threshold_) {
|
|
if (iterations_similar_transforms_ >= max_iterations_similar_transforms_) {
|
|
convergence_state_ = CONVERGENCE_CRITERIA_TRANSFORM;
|
|
return (true);
|
|
}
|
|
is_similar = true;
|
|
}
|
|
|
|
correspondences_cur_mse_ = calculateMSE(correspondences_);
|
|
PCL_DEBUG("[pcl::DefaultConvergenceCriteria::hasConverged] Previous / Current MSE "
|
|
"for correspondences distances is: %f / %f.\n",
|
|
correspondences_prev_mse_,
|
|
correspondences_cur_mse_);
|
|
|
|
// 3. The relative sum of Euclidean squared errors is smaller than a user defined
|
|
// threshold Absolute
|
|
if (std::abs(correspondences_cur_mse_ - correspondences_prev_mse_) <
|
|
mse_threshold_absolute_) {
|
|
if (iterations_similar_transforms_ >= max_iterations_similar_transforms_) {
|
|
convergence_state_ = CONVERGENCE_CRITERIA_ABS_MSE;
|
|
return (true);
|
|
}
|
|
is_similar = true;
|
|
}
|
|
|
|
// Relative
|
|
if (std::abs(correspondences_cur_mse_ - correspondences_prev_mse_) /
|
|
correspondences_prev_mse_ <
|
|
mse_threshold_relative_) {
|
|
if (iterations_similar_transforms_ >= max_iterations_similar_transforms_) {
|
|
convergence_state_ = CONVERGENCE_CRITERIA_REL_MSE;
|
|
return (true);
|
|
}
|
|
is_similar = true;
|
|
}
|
|
|
|
if (is_similar) {
|
|
// Increment the number of transforms that the thresholds are allowed to be similar
|
|
++iterations_similar_transforms_;
|
|
}
|
|
else {
|
|
// When the transform becomes large, reset.
|
|
iterations_similar_transforms_ = 0;
|
|
}
|
|
|
|
correspondences_prev_mse_ = correspondences_cur_mse_;
|
|
|
|
return (false);
|
|
}
|
|
|
|
} // namespace registration
|
|
} // namespace pcl
|
|
|
|
#endif // PCL_REGISTRATION_DEFAULT_CONVERGENCE_CRITERIA_HPP_
|