Point Cloud Library (PCL)  1.11.0
default_convergence_criteria.h
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39 
40 #pragma once
41 
42 #include <pcl/memory.h>
43 #include <pcl/pcl_macros.h>
44 #include <pcl/registration/eigen.h>
45 #include <pcl/correspondence.h>
46 #include <pcl/registration/convergence_criteria.h>
47 
48 namespace pcl
49 {
50  namespace registration
51  {
52  /** \brief @b DefaultConvergenceCriteria represents an instantiation of
53  * ConvergenceCriteria, and implements the following criteria for registration loop
54  * evaluation:
55  *
56  * * a maximum number of iterations has been reached
57  * * the transformation (R, t) cannot be further updated (the difference between current and previous is smaller than a threshold)
58  * * 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)
59  *
60  * \note Convergence is considered reached if ANY of the above criteria are met.
61  *
62  * \author Radu B. Rusu
63  * \ingroup registration
64  */
65  template <typename Scalar = float>
67  {
68  public:
69  using Ptr = shared_ptr<DefaultConvergenceCriteria<Scalar> >;
70  using ConstPtr = shared_ptr<const DefaultConvergenceCriteria<Scalar> >;
71 
72  using Matrix4 = Eigen::Matrix<Scalar, 4, 4>;
73 
75  {
83  };
84 
85  /** \brief Empty constructor.
86  * Sets:
87  * * the maximum number of iterations to 1000
88  * * the rotation threshold to 0.256 degrees (0.99999)
89  * * the translation threshold to 0.0003 meters (3e-4^2)
90  * * the MSE relative / absolute thresholds to 0.001% and 1e-12
91  *
92  * \param[in] iterations a reference to the number of iterations the loop has ran so far
93  * \param[in] transform a reference to the current transformation obtained by the transformation evaluation
94  * \param[in] correspondences a reference to the current set of point correspondences between source and target
95  */
96  DefaultConvergenceCriteria (const int &iterations, const Matrix4 &transform, const pcl::Correspondences &correspondences)
97  : iterations_ (iterations)
98  , transformation_ (transform)
99  , correspondences_ (correspondences)
100  , correspondences_prev_mse_ (std::numeric_limits<double>::max ())
101  , correspondences_cur_mse_ (std::numeric_limits<double>::max ())
102  , max_iterations_ (100) // 100 iterations
103  , failure_after_max_iter_ (false)
104  , rotation_threshold_ (0.99999) // 0.256 degrees
105  , translation_threshold_ (3e-4 * 3e-4) // 0.0003 meters
106  , mse_threshold_relative_ (0.00001) // 0.001% of the previous MSE (relative error)
107  , mse_threshold_absolute_ (1e-12) // MSE (absolute error)
111  {
112  }
113 
114  /** \brief Empty destructor */
116 
117  /** \brief Set the maximum number of consecutive iterations that the internal rotation,
118  * translation, and MSE differences are allowed to be similar.
119  * \param[in] nr_iterations the maximum number of iterations
120  */
121  inline void
122  setMaximumIterationsSimilarTransforms (const int nr_iterations) { max_iterations_similar_transforms_ = nr_iterations; }
123 
124  /** \brief Get the maximum number of consecutive iterations that the internal rotation,
125  * translation, and MSE differences are allowed to be similar, as set by the user.
126  */
127  inline int
129 
130  /** \brief Set the maximum number of iterations the internal optimization should run for.
131  * \param[in] nr_iterations the maximum number of iterations the internal optimization should run for
132  */
133  inline void
134  setMaximumIterations (const int nr_iterations) { max_iterations_ = nr_iterations; }
135 
136  /** \brief Get the maximum number of iterations the internal optimization should run for, as set by the user. */
137  inline int
138  getMaximumIterations () const { return (max_iterations_); }
139 
140  /** \brief Specifies if the registration fails or converges when the maximum number of iterations is reached.
141  * \param[in] failure_after_max_iter If true, the registration fails. If false, the registration is assumed to have converged.
142  */
143  inline void
144  setFailureAfterMaximumIterations (const bool failure_after_max_iter) { failure_after_max_iter_ = failure_after_max_iter; }
145 
146  /** \brief Get whether the registration will fail or converge when the maximum number of iterations is reached. */
147  inline bool
149 
150  /** \brief 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.
151  * \param[in] threshold the rotation threshold in order for an optimization to be considered as having converged to the final solution.
152  */
153  inline void
154  setRotationThreshold (const double threshold) { rotation_threshold_ = threshold; }
155 
156  /** \brief Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) as set by the user.
157  */
158  inline double
160 
161  /** \brief 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.
162  * \param[in] threshold the translation threshold in order for an optimization to be considered as having converged to the final solution.
163  */
164  inline void
165  setTranslationThreshold (const double threshold) { translation_threshold_ = threshold; }
166 
167  /** \brief Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transformations) as set by the user.
168  */
169  inline double
171 
172  /** \brief Set the relative MSE between two consecutive sets of correspondences.
173  * \param[in] mse_relative the relative MSE threshold
174  */
175  inline void
176  setRelativeMSE (const double mse_relative) { mse_threshold_relative_ = mse_relative; }
177 
178  /** \brief Get the relative MSE between two consecutive sets of correspondences. */
179  inline double
181 
182  /** \brief Set the absolute MSE between two consecutive sets of correspondences.
183  * \param[in] mse_absolute the relative MSE threshold
184  */
185  inline void
186  setAbsoluteMSE (const double mse_absolute) { mse_threshold_absolute_ = mse_absolute; }
187 
188  /** \brief Get the absolute MSE between two consecutive sets of correspondences. */
189  inline double
191 
192 
193  /** \brief Check if convergence has been reached. */
194  bool
195  hasConverged () override;
196 
197  /** \brief Return the convergence state after hasConverged () */
200  {
201  return (convergence_state_);
202  }
203 
204  /** \brief Sets the convergence state externally (for example, when ICP does not find
205  * enough correspondences to estimate a transformation, the function is called setting
206  * the convergence state to ConvergenceState::CONVERGENCE_CRITERIA_NO_CORRESPONDENCES)
207  * \param[in] c the convergence state
208  */
209  inline void
211  {
212  convergence_state_ = c;
213  }
214 
215  protected:
216 
217  /** \brief Calculate the mean squared error (MSE) of the distance for a given set of correspondences.
218  * \param[in] correspondences the given set of correspondences
219  */
220  inline double
221  calculateMSE (const pcl::Correspondences &correspondences) const
222  {
223  double mse = 0;
224  for (const auto &correspondence : correspondences)
225  mse += correspondence.distance;
226  mse /= double (correspondences.size ());
227  return (mse);
228  }
229 
230  /** \brief The number of iterations done by the registration loop so far. */
231  const int &iterations_;
232 
233  /** \brief The current transformation obtained by the transformation estimation method. */
235 
236  /** \brief The current set of point correspondences between the source and the target. */
238 
239  /** \brief The MSE for the previous set of correspondences. */
241 
242  /** \brief The MSE for the current set of correspondences. */
244 
245  /** \brief The maximum nuyyGmber of iterations that the registration loop is to be executed. */
247 
248  /** \brief Specifys if the registration fails or converges when the maximum number of iterations is reached. */
250 
251  /** \brief The rotation threshold is the relative rotation between two iterations (as angle cosine). */
253 
254  /** \brief The translation threshold is the relative translation between two iterations (0 if no translation). */
256 
257  /** \brief The relative change from the previous MSE for the current set of correspondences, e.g. .1 means 10% change. */
259 
260  /** \brief The absolute change from the previous MSE for the current set of correspondences. */
262 
263  /** \brief Internal counter for the number of iterations that the internal
264  * rotation, translation, and MSE differences are allowed to be similar. */
266 
267  /** \brief The maximum number of iterations that the internal rotation,
268  * translation, and MSE differences are allowed to be similar. */
270 
271  /** \brief The state of the convergence (e.g., why did the registration converge). */
273 
274  public:
276  };
277  }
278 }
279 
280 #include <pcl/registration/impl/default_convergence_criteria.hpp>
ConvergenceCriteria represents an abstract base class for different convergence criteria used in regi...
shared_ptr< ConvergenceCriteria > Ptr
shared_ptr< const ConvergenceCriteria > ConstPtr
DefaultConvergenceCriteria represents an instantiation of ConvergenceCriteria, and implements the fol...
ConvergenceState convergence_state_
The state of the convergence (e.g., why did the registration converge).
int iterations_similar_transforms_
Internal counter for the number of iterations that the internal rotation, translation,...
int getMaximumIterations() const
Get the maximum number of iterations the internal optimization should run for, as set by the user.
void setConvergenceState(ConvergenceState c)
Sets the convergence state externally (for example, when ICP does not find enough correspondences to ...
double correspondences_cur_mse_
The MSE for the current set of correspondences.
DefaultConvergenceCriteria(const int &iterations, const Matrix4 &transform, const pcl::Correspondences &correspondences)
Empty constructor.
const Matrix4 & transformation_
The current transformation obtained by the transformation estimation method.
void setAbsoluteMSE(const double mse_absolute)
Set the absolute MSE between two consecutive sets of correspondences.
void setMaximumIterations(const int nr_iterations)
Set the maximum number of iterations the internal optimization should run for.
const pcl::Correspondences & correspondences_
The current set of point correspondences between the source and the target.
const int & iterations_
The number of iterations done by the registration loop so far.
void setTranslationThreshold(const double threshold)
Set the translation threshold (maximum allowable difference between two consecutive transformations) ...
bool getFailureAfterMaximumIterations() const
Get whether the registration will fail or converge when the maximum number of iterations is reached.
void setRelativeMSE(const double mse_relative)
Set the relative MSE between two consecutive sets of correspondences.
int max_iterations_
The maximum nuyyGmber of iterations that the registration loop is to be executed.
void setMaximumIterationsSimilarTransforms(const int nr_iterations)
Set the maximum number of consecutive iterations that the internal rotation, translation,...
double getAbsoluteMSE() const
Get the absolute MSE between two consecutive sets of correspondences.
double translation_threshold_
The translation threshold is the relative translation between two iterations (0 if no translation).
void setRotationThreshold(const double threshold)
Set the rotation threshold cosine angle (maximum allowable difference between two consecutive transfo...
double mse_threshold_absolute_
The absolute change from the previous MSE for the current set of correspondences.
double getTranslationThreshold() const
Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transfo...
ConvergenceState getConvergenceState()
Return the convergence state after hasConverged ()
bool hasConverged() override
Check if convergence has been reached.
int getMaximumIterationsSimilarTransforms() const
Get the maximum number of consecutive iterations that the internal rotation, translation,...
double calculateMSE(const pcl::Correspondences &correspondences) const
Calculate the mean squared error (MSE) of the distance for a given set of correspondences.
void setFailureAfterMaximumIterations(const bool failure_after_max_iter)
Specifies if the registration fails or converges when the maximum number of iterations is reached.
double getRelativeMSE() const
Get the relative MSE between two consecutive sets of correspondences.
bool failure_after_max_iter_
Specifys if the registration fails or converges when the maximum number of iterations is reached.
double rotation_threshold_
The rotation threshold is the relative rotation between two iterations (as angle cosine).
double mse_threshold_relative_
The relative change from the previous MSE for the current set of correspondences, e....
double correspondences_prev_mse_
The MSE for the previous set of correspondences.
int max_iterations_similar_transforms_
The maximum number of iterations that the internal rotation, translation, and MSE differences are all...
double getRotationThreshold() const
Get the rotation threshold cosine angle (maximum allowable difference between two consecutive transfo...
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
Defines functions, macros and traits for allocating and using memory.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Defines all the PCL and non-PCL macros used.