Open3D (C++ API)  0.18.0+252c867
Public Member Functions | Data Fields
open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria Class Reference

Convergence criteria of GlobalOptimization. More...

#include <GlobalOptimizationConvergenceCriteria.h>

Public Member Functions

 GlobalOptimizationConvergenceCriteria (int max_iteration=100, double min_relative_increment=1e-6, double min_relative_residual_increment=1e-6, double min_right_term=1e-6, double min_residual=1e-6, int max_iteration_lm=20, double upper_scale_factor=2./3., double lower_scale_factor=1./3.)
 Parameterized Constructor. More...
 
 ~GlobalOptimizationConvergenceCriteria ()
 

Data Fields

int max_iteration_
 Maximum iteration number for iterative optimization module. More...
 
double min_relative_increment_
 Minimum relative increments. More...
 
double min_relative_residual_increment_
 Minimum relative residual increments. More...
 
double min_right_term_
 Minimum right term value. More...
 
double min_residual_
 Minimum residual value. More...
 
int max_iteration_lm_
 Maximum iteration number for Levenberg Marquardt method. More...
 
double upper_scale_factor_
 Upper scale factor value. More...
 
double lower_scale_factor_
 Lower scale factor value. More...
 

Detailed Description

Convergence criteria of GlobalOptimization.

Constructor & Destructor Documentation

◆ GlobalOptimizationConvergenceCriteria()

open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::GlobalOptimizationConvergenceCriteria ( int  max_iteration = 100,
double  min_relative_increment = 1e-6,
double  min_relative_residual_increment = 1e-6,
double  min_right_term = 1e-6,
double  min_residual = 1e-6,
int  max_iteration_lm = 20,
double  upper_scale_factor = 2. / 3.,
double  lower_scale_factor = 1. / 3. 
)
inline

Parameterized Constructor.

Parameters
max_iterationMaximum iteration number.
min_relative_incrementMinimum relative increments.
min_relative_residual_incrementMinimum relative residual increments.
min_right_termMinimum right term value.
min_residualMinimum residual value.
max_iteration_lmMaximum iteration number for Levenberg Marquardt method.
upper_scale_factorUpper scale factor value.
lower_scale_factorLower scale factor value.

◆ ~GlobalOptimizationConvergenceCriteria()

open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::~GlobalOptimizationConvergenceCriteria ( )
inline

Field Documentation

◆ lower_scale_factor_

double open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::lower_scale_factor_

Lower scale factor value.

◆ max_iteration_

int open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::max_iteration_

Maximum iteration number for iterative optimization module.

◆ max_iteration_lm_

int open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::max_iteration_lm_

Maximum iteration number for Levenberg Marquardt method.

max_iteration_lm_ is used for additional Levenberg-Marquardt inner loop that automatically changes steepest gradient gain.

◆ min_relative_increment_

double open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::min_relative_increment_

Minimum relative increments.

Several convergence criteria to determine stability of iterative optimization.

◆ min_relative_residual_increment_

double open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::min_relative_residual_increment_

Minimum relative residual increments.

◆ min_residual_

double open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::min_residual_

Minimum residual value.

◆ min_right_term_

double open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::min_right_term_

Minimum right term value.

◆ upper_scale_factor_

double open3d::pipelines::registration::GlobalOptimizationConvergenceCriteria::upper_scale_factor_

Upper scale factor value.

Scaling factors are used for levenberg marquardt algorithm these are scaling factors that increase/decrease lambda used in H_LM = H + lambda * I


The documentation for this class was generated from the following file: