struct mp2p_icp_filters::PlanarNormalsParams

Overview

Parameters for estimate_planar_normals()

#include <estimate_up_from_normals.h>

struct PlanarNormalsParams
{
    // fields

    double search_radius = 0.4;
    std::size_t min_neighbors = 8;
    double max_planarity_ratio = 0.1;
    std::size_t parallelization_grain_size = 1024;
};

Fields

double search_radius = 0.4

Neighborhood radius for each local plane fit [m].

std::size_t min_neighbors = 8

Points with fewer neighbors (including itself) get no normal.

double max_planarity_ratio = 0.1

A neighborhood is planar if eigVal[0] < max_planarity_ratio * eigVal[1].