struct mp2p_icp_filters::EstimateUpParams

Overview

Parameters for estimate_up_from_normals()

#include <estimate_up_from_normals.h>

struct EstimateUpParams
{
    // fields

    double wall_nz = 0.25;
    double flat_nz = 0.95;
    std::size_t iterations = 5;
    std::size_t min_population = 100;
    double min_eigen_gap = 0.05;
};

Fields

double wall_nz = 0.25

Normals with |n.up| below this are walls.

double flat_nz = 0.95

Normals with |n.up| above this are floors or ceilings (“flats”)

std::size_t iterations = 5

Number of re-classification iterations.

std::size_t min_population = 100

A population (walls or flats) with fewer normals than this is ignored, so a handful of outliers can not weigh as much as the other population.

double min_eigen_gap = 0.05

Minimum gap between the two smallest eigenvalues of the cost matrix. Below it, “up” is not observable (e.g. one wall direction and no floor).