cloudViewer::t::pipelines::slac::SLACOptimizerParams Struct Reference

#include <SLACOptimizer.h>

Collaboration diagram for cloudViewer::t::pipelines::slac::SLACOptimizerParams:

Public Member Functions
std::string	GetSubfolderName () const
	SLACOptimizerParams (const int max_iterations=5, const float voxel_size=0.05, const float distance_threshold=0.07, const float fitness_threshold=0.3, const float regularizer_weight=1, const core::Device device=core::Device("CPU:0"), const std::string slac_folder="")

Public Attributes
int	max_iterations_
	Number of iterations. More...
float	voxel_size_
float	distance_threshold_
	Distance threshold to filter inconsistent correspondences. More...
float	fitness_threshold_
	Fitness threshold to filter inconsistent pairs. More...
float	regularizer_weight_
	Weight of the regularizer. More...
core::Device	device_
	Device to use. More...
std::string	slac_folder_ = ""
	Relative directory to store SLAC results in the dataset folder. More...

Detailed Description

Definition at line 24 of file SLACOptimizer.h.

Constructor & Destructor Documentation

SLACOptimizerParams()

cloudViewer::t::pipelines::slac::SLACOptimizerParams::SLACOptimizerParams ( const int  max_iterations = 5, const float  voxel_size = 0.05, const float  distance_threshold = 0.07, const float  fitness_threshold = 0.3, const float  regularizer_weight = 1, const core::Device  device = core::Device("CPU:0"), const std::string  slac_folder = ""  )

inline

Default constructor.

Parameters

max_iterations	Number of iterations. [Default: 5].
voxel_size	Voxel size to downsample input point cloud. [Default: 0.05].
distance_threshold	Distance threshold to filter inconsistent correspondences. [Default: 0.07].
fitness_threshold	Fitness threshold to filter inconsistent pairs. [Default: 0.3].
regularizer_weight_	Weight of the regularizer. [Default: 1].
device	Device to use. [Default: CPU:0].
slac_folder	Relative directory to store SLAC results in the dataset folder. [Default: ""].

Definition at line 66 of file SLACOptimizer.h.

References device_, distance_threshold_, fitness_threshold_, LogError, cloudViewer::pipelines::registration::max_iterations, max_iterations_, regularizer_weight_, slac_folder_, and voxel_size_.

Member Function Documentation

GetSubfolderName()

std::string cloudViewer::t::pipelines::slac::SLACOptimizerParams::GetSubfolderName ( ) const

inline

Definition at line 46 of file SLACOptimizer.h.

References format, slac_folder_, and voxel_size_.

Member Data Documentation

device_

core::Device cloudViewer::t::pipelines::slac::SLACOptimizerParams::device_

Device to use.

Definition at line 42 of file SLACOptimizer.h.

Referenced by cloudViewer::t::pipelines::slac::pybind_slac(), and SLACOptimizerParams().

distance_threshold_

float cloudViewer::t::pipelines::slac::SLACOptimizerParams::distance_threshold_

Distance threshold to filter inconsistent correspondences.

Definition at line 33 of file SLACOptimizer.h.

Referenced by cloudViewer::t::pipelines::slac::pybind_slac(), and SLACOptimizerParams().

fitness_threshold_

float cloudViewer::t::pipelines::slac::SLACOptimizerParams::fitness_threshold_

Fitness threshold to filter inconsistent pairs.

Definition at line 36 of file SLACOptimizer.h.

Referenced by cloudViewer::t::pipelines::slac::pybind_slac(), and SLACOptimizerParams().

max_iterations_

int cloudViewer::t::pipelines::slac::SLACOptimizerParams::max_iterations_

Number of iterations.

Definition at line 26 of file SLACOptimizer.h.

Referenced by cloudViewer::t::pipelines::slac::pybind_slac(), and SLACOptimizerParams().

regularizer_weight_

float cloudViewer::t::pipelines::slac::SLACOptimizerParams::regularizer_weight_

Weight of the regularizer.

Definition at line 39 of file SLACOptimizer.h.

Referenced by cloudViewer::t::pipelines::slac::pybind_slac(), and SLACOptimizerParams().

slac_folder_

std::string cloudViewer::t::pipelines::slac::SLACOptimizerParams::slac_folder_ = ""

Relative directory to store SLAC results in the dataset folder.

Definition at line 45 of file SLACOptimizer.h.

Referenced by GetSubfolderName(), cloudViewer::t::pipelines::slac::pybind_slac(), and SLACOptimizerParams().

voxel_size_

float cloudViewer::t::pipelines::slac::SLACOptimizerParams::voxel_size_

Voxel size to downsample input point cloud. Note: it is not control grid resolution, which is fixed to be 0.375.

Definition at line 30 of file SLACOptimizer.h.

Referenced by GetSubfolderName(), cloudViewer::t::pipelines::slac::pybind_slac(), and SLACOptimizerParams().

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

• /root/ACloudViewer/libs/cloudViewer/t/pipelines/slac/SLACOptimizer.h