Struct ICP::Config

Nested Relationships

This struct is a nested type of Class ICP.

Struct Documentation

struct Config

Contains all the information needed to setup the ICP class.

Public Members

bool refine_roll_pitch = false
int mini_batch_size = 20

Number of points used in each alignment step.

To allow simple threading the ICP process is split up into a large number of separate alignments performed on small pointclouds. This parameter dictates how many points are used in each “mini batch”. The result are then combined weighting them by an estimate of the information gained by the alignment.

FloatingPoint min_match_ratio = 0.8

Ratio of points that must lie within the truncation distance of an allocated voxel.

FloatingPoint subsample_keep_ratio = 0.5

Ratio of points used in the ICP matching.

FloatingPoint inital_translation_weighting = 100.0

Weighting applied to the translational component of the initial guess.

Very roughly corresponds to the inverse covariance of the initial guess multiplied by the variance in a measured points accuracy.

FloatingPoint inital_rotation_weighting = 100.0

Weighting applied to the rotational component of the initial guess.

See inital_translation_weighting for further details

size_t num_threads = std::thread::hardware_concurrency()