struct mp2p_icp::Parameters
Overview
ICP parameters.
See also:
ICP_Base
#include <Parameters.h> struct Parameters: public mrpt::serialization::CSerializable { // fields uint32_t maxIterations {40}; double minAbsStep_trans {5e-4}; double minAbsStep_rot {1e-4}; bool generateDebugFiles = false; bool saveIterationDetails = false; uint32_t decimationIterationDetails = 10; uint32_t decimationDebugFiles = 1; std::string debugFileNameFormat = "icp-run-$UNIQUE_ID-local-$LOCAL_ID$LOCAL_LABEL-" "global-$GLOBAL_ID$GLOBAL_LABEL.icplog"; bool debugPrintIterationProgress = false; // methods void load_from(const mrpt::containers::yaml& p); void save_to(mrpt::containers::yaml& p) const; };
Fields
uint32_t maxIterations {40}
Maximum number of ICP iterations to run.
double minAbsStep_trans {5e-4}
If the correction in all translation coordinates (X,Y,Z) is below this threshold (in meters), iterations are terminated (Default:1e-6)
double minAbsStep_rot {1e-4}
If the correction in all rotation coordinates (yaw,pitch,roll) is below this threshold (in radians), iterations are terminated (Default:1e-6)
bool generateDebugFiles = false
If true, debug files useful to inspect how ICP works internally will be generated and saved to disk for posterior inspection with a GUI.
The same mp2p_icp::LogRecord object saved to disk will be also returned by ICP::align().
See also:
debugFileNameFormat, saveIterationDetails
bool saveIterationDetails = false
If enabled, the intermediary pairings and SE(3) solution for each ICP step will be also stored in the mp2p_icp::LogRecord to help investigating how ICP made progress.
uint32_t decimationIterationDetails = 10
If set to N>1, only 1 out of N ICP iterations will be kept. Applicable if saveIterationDetails is true. Useful to save tons of disk space for large datasets (!).
uint32_t decimationDebugFiles = 1
If set to N>1, only 1 out of N log files will be actually generated. Useful to save tons of disk space for large datasets (!).
std::string debugFileNameFormat = "icp-run-$UNIQUE_ID-local-$LOCAL_ID$LOCAL_LABEL-" "global-$GLOBAL_ID$GLOBAL_LABEL.icplog"
Generated files format, if generateDebugFiles is true.