#include <Parameters.h>

Inheritance diagram for mp2p_icp::Parameters:

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

std::string	debugFileNameFormat

bool	debugPrintIterationProgress = false

Detailed Description

ICP parameters.

See also: ICP_Base

Definition at line 25 of file Parameters.h.

Member Function Documentation

◆ load_from()

void Parameters::load_from ( const mrpt::containers::yaml & p )

Definition at line 42 of file Parameters.cpp.

◆ save_to()

void Parameters::save_to ( mrpt::containers::yaml & p ) const

Definition at line 51 of file Parameters.cpp.

Member Data Documentation

◆ debugFileNameFormat

std::string mp2p_icp::Parameters::debugFileNameFormat

Initial value:

=
        "icp-run-$UNIQUE_ID-local-$LOCAL_ID$LOCAL_LABEL-"
        "global-$GLOBAL_ID$GLOBAL_LABEL.icplog"

Generated files format, if generateDebugFiles is true.

Definition at line 60 of file Parameters.h.

◆ debugPrintIterationProgress

bool mp2p_icp::Parameters::debugPrintIterationProgress = false

Definition at line 64 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

Definition at line 57 of file Parameters.h.

◆ maxIterations

uint32_t mp2p_icp::Parameters::maxIterations {40}

Maximum number of ICP iterations to run.

Definition at line 33 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 43 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 38 of file Parameters.h.

The documentation for this struct was generated from the following files:

Public Member Functions

Public Attributes