Struct Parameters
Defined in File Parameters.h
Inheritance Relationships
Base Type
public mrpt::serialization::CSerializable
Struct Documentation
-
struct Parameters : public mrpt::serialization::CSerializable
ICP parameters.
See also
ICP_Base
Termination criteria
-
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)
Debugging and logging
-
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
-
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<void(mp2p_icp::metric_map_t&)> functor_before_logging_global
-
bool debugPrintIterationProgress = false
-
double minAbsStep_trans = {5e-4}