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";
    std::function<void(mp2p_icp::metric_map_t&)> functor_before_logging_local;
    std::function<void(mp2p_icp::metric_map_t&)> functor_before_logging_global;
    std::function<std::optional<bool>const LogRecord&)> functor_should_generate_debug_file;
    bool debugPrintIterationProgress = false;
    std::map<uint32_t, double> quality_checkpoints = {{50U, 0.05}, {100U, 0.10}};
    bool force_final_pairings_for_quality = false;
    CovarianceParameters covariance_params;

    // 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.

std::function<void(mp2p_icp::metric_map_t&)> functor_before_logging_local

Function to apply to the local and global maps before saving the map to a log file. Useful to apply deletion filters to save space and time.

std::function<std::optional<bool>const LogRecord&)> functor_should_generate_debug_file

Optional function to override generateDebugFiles : If the function is provided, and it returns a valid value, it will override generateDebugFiles and decimationDebugFiles

std::map<uint32_t, double> quality_checkpoints = {{50U, 0.05}, {100U, 0.10}}

Quality checkpoints: if the quality is smaller than the given threshold at the prescribed iteration, ICP will be aborted.

bool force_final_pairings_for_quality = false

If true (default=false), a final matcher pass is run with ICP_ITERATION set to maxIterations before evaluating quality. This ensures the quality score reflects pairings at the final (tightest) threshold, regardless of how early the solver converged. Set to false only to reproduce legacy behavior.

CovarianceParameters covariance_params

Parameters for the post-optimization SE(3) covariance estimation (see mp2p_icp::covariance). Loadable from the optional YAML map block covariance: in the ICP pipeline file.