#include <Parameters.h>
Public Member Functions | |
| void | load_from (const mrpt::containers::yaml &p) |
| void | save_to (mrpt::containers::yaml &p) const |
Public Attributes | |
Termination criteria | |
| uint32_t | maxIterations {40} |
| double | minAbsStep_trans {5e-4} |
| double | minAbsStep_rot {1e-4} |
Debugging and logging | |
| bool | generateDebugFiles = false |
| bool | saveIterationDetails = false |
| uint32_t | decimationIterationDetails = 10 |
| uint32_t | decimationDebugFiles = 1 |
| std::string | debugFileNameFormat |
| std::function< void(mp2p_icp::metric_map_t &)> | functor_before_logging_local |
| std::function< void(mp2p_icp::metric_map_t &)> | functor_before_logging_global |
| bool | debugPrintIterationProgress = false |
| std::map< uint32_t, double > | quality_checkpoints |
Detailed Description
Member Function Documentation
◆ load_from()
| void Parameters::load_from | ( | const mrpt::containers::yaml & | p | ) |
Definition at line 58 of file Parameters.cpp.
◆ save_to()
| void Parameters::save_to | ( | mrpt::containers::yaml & | p | ) | const |
Definition at line 103 of file Parameters.cpp.
Member Data Documentation
◆ debugFileNameFormat
| std::string mp2p_icp::Parameters::debugFileNameFormat |
Generated files format, if generateDebugFiles is true.
Definition at line 78 of file Parameters.h.
◆ debugPrintIterationProgress
| bool mp2p_icp::Parameters::debugPrintIterationProgress = false |
Definition at line 88 of file Parameters.h.
◆ decimationDebugFiles
| uint32_t mp2p_icp::Parameters::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 (!).
Definition at line 75 of file Parameters.h.
◆ decimationIterationDetails
| uint32_t mp2p_icp::Parameters::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 (!).
Definition at line 70 of file Parameters.h.
◆ functor_before_logging_global
| std::function<void(mp2p_icp::metric_map_t&)> mp2p_icp::Parameters::functor_before_logging_global |
Definition at line 86 of file Parameters.h.
◆ functor_before_logging_local
| std::function<void(mp2p_icp::metric_map_t&)> mp2p_icp::Parameters::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.
Definition at line 85 of file Parameters.h.
◆ generateDebugFiles
| bool mp2p_icp::Parameters::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
Definition at line 58 of file Parameters.h.
◆ maxIterations
| uint32_t mp2p_icp::Parameters::maxIterations {40} |
Maximum number of ICP iterations to run.
Definition at line 34 of file Parameters.h.
◆ minAbsStep_rot
| double mp2p_icp::Parameters::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)
Definition at line 44 of file Parameters.h.
◆ minAbsStep_trans
| double mp2p_icp::Parameters::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)
Definition at line 39 of file Parameters.h.
◆ quality_checkpoints
| std::map<uint32_t, double> mp2p_icp::Parameters::quality_checkpoints |
Quality checkpoints: if the quality is smaller than the given threshold at the prescribed iteration, ICP will be aborted.
Definition at line 92 of file Parameters.h.
◆ saveIterationDetails
| bool mp2p_icp::Parameters::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.
Definition at line 64 of file Parameters.h.
The documentation for this struct was generated from the following files: