cloudViewer::ICPRegistrationTools::Parameters Struct Reference

ICP Parameters. More...

#include <RegistrationTools.h>

Collaboration diagram for cloudViewer::ICPRegistrationTools::Parameters:

Public Member Functions
	Parameters ()

Public Attributes
CONVERGENCE_TYPE	convType
	Convergence type. More...
double	minRMSDecrease
unsigned	nbMaxIterations
bool	adjustScale
bool	filterOutFarthestPoints
unsigned	samplingLimit
double	finalOverlapRatio
ScalarField *	modelWeights
ScalarField *	dataWeights
	Weights for data points (optional) More...
int	transformationFilters
int	maxThreadCount
	Maximum number of threads to use (0 = max) More...
bool	useC2MSignedDistances
	Whether to compute signed C2M distances. More...
NORMALS_MATCHING	normalsMatching
	Normals matching method. More...

Detailed Description

ICP Parameters.

Definition at line 152 of file RegistrationTools.h.

Constructor & Destructor Documentation

Parameters()

cloudViewer::ICPRegistrationTools::Parameters::Parameters ( )

inline

Definition at line 153 of file RegistrationTools.h.

Member Data Documentation

adjustScale

bool cloudViewer::ICPRegistrationTools::Parameters::adjustScale

Whether to release the scale parameter during the registration procedure or not

Definition at line 181 of file RegistrationTools.h.

Referenced by ccLibAlgorithms::ApplyScaleMatchingAlgorithm(), define_RegistrationTools(), CommandICP::process(), and cloudViewer::ICPRegistrationTools::Register().

convType

CONVERGENCE_TYPE cloudViewer::ICPRegistrationTools::Parameters::convType

Convergence type.

Definition at line 169 of file RegistrationTools.h.

Referenced by ccLibAlgorithms::ApplyScaleMatchingAlgorithm(), define_RegistrationTools(), CommandICP::process(), and cloudViewer::ICPRegistrationTools::Register().

dataWeights

ScalarField* cloudViewer::ICPRegistrationTools::Parameters::dataWeights

Weights for data points (optional)

Definition at line 200 of file RegistrationTools.h.

Referenced by define_RegistrationTools(), ccRegistrationTools::ICP(), and cloudViewer::ICPRegistrationTools::Register().

filterOutFarthestPoints

bool cloudViewer::ICPRegistrationTools::Parameters::filterOutFarthestPoints

If true, the algorithm will automatically ignore farthest points from the reference, for better convergence

Definition at line 185 of file RegistrationTools.h.

Referenced by ccLibAlgorithms::ApplyScaleMatchingAlgorithm(), define_RegistrationTools(), CommandICP::process(), and cloudViewer::ICPRegistrationTools::Register().

finalOverlapRatio

double cloudViewer::ICPRegistrationTools::Parameters::finalOverlapRatio

Theoretical overlap ratio (at each iteration, only this percentage (between 0 and 1) will be used for registration

Definition at line 193 of file RegistrationTools.h.

Referenced by ccLibAlgorithms::ApplyScaleMatchingAlgorithm(), define_RegistrationTools(), ccRegistrationTools::ICP(), CommandICP::process(), and cloudViewer::ICPRegistrationTools::Register().

maxThreadCount

int cloudViewer::ICPRegistrationTools::Parameters::maxThreadCount

Maximum number of threads to use (0 = max)

Definition at line 207 of file RegistrationTools.h.

Referenced by ccLibAlgorithms::ApplyScaleMatchingAlgorithm(), define_RegistrationTools(), CommandICP::process(), and cloudViewer::ICPRegistrationTools::Register().

minRMSDecrease

double cloudViewer::ICPRegistrationTools::Parameters::minRMSDecrease

The minimum error (RMS) reduction between two consecutive steps to continue process (ignored if convType is not MAX_ERROR_CONVERGENCE)

Definition at line 173 of file RegistrationTools.h.

Referenced by ccLibAlgorithms::ApplyScaleMatchingAlgorithm(), define_RegistrationTools(), CommandICP::process(), and cloudViewer::ICPRegistrationTools::Register().

modelWeights

ScalarField* cloudViewer::ICPRegistrationTools::Parameters::modelWeights

Weights for model points (i.e. only if the model entity is a cloud) (optional)

Definition at line 197 of file RegistrationTools.h.

Referenced by define_RegistrationTools(), ccRegistrationTools::ICP(), and cloudViewer::ICPRegistrationTools::Register().

nbMaxIterations

unsigned cloudViewer::ICPRegistrationTools::Parameters::nbMaxIterations

The maximum number of iteration (ignored if convType is not MAX_ITER_CONVERGENCE)

Definition at line 177 of file RegistrationTools.h.

Referenced by ccLibAlgorithms::ApplyScaleMatchingAlgorithm(), define_RegistrationTools(), CommandICP::process(), and cloudViewer::ICPRegistrationTools::Register().

normalsMatching

NORMALS_MATCHING cloudViewer::ICPRegistrationTools::Parameters::normalsMatching

Normals matching method.

Definition at line 216 of file RegistrationTools.h.

Referenced by ccLibAlgorithms::ApplyScaleMatchingAlgorithm(), and CommandICP::process().

samplingLimit

unsigned cloudViewer::ICPRegistrationTools::Parameters::samplingLimit

Maximum number of points per cloud (they are randomly resampled below this limit otherwise)

Definition at line 189 of file RegistrationTools.h.

Referenced by ccLibAlgorithms::ApplyScaleMatchingAlgorithm(), define_RegistrationTools(), CommandICP::process(), and cloudViewer::ICPRegistrationTools::Register().

transformationFilters

int cloudViewer::ICPRegistrationTools::Parameters::transformationFilters

Filters to be applied on the resulting transformation at each step (experimental) - see RegistrationTools::TRANSFORMATION_FILTERS flags

Definition at line 204 of file RegistrationTools.h.

Referenced by ccLibAlgorithms::ApplyScaleMatchingAlgorithm(), define_RegistrationTools(), CommandICP::process(), and cloudViewer::ICPRegistrationTools::Register().

useC2MSignedDistances

bool cloudViewer::ICPRegistrationTools::Parameters::useC2MSignedDistances

Whether to compute signed C2M distances.

Useful when registering a cloud with a mesh AND partial overlap, to move the cloud towards the outside of the mesh

Definition at line 213 of file RegistrationTools.h.

Referenced by ccLibAlgorithms::ApplyScaleMatchingAlgorithm(), and CommandICP::process().

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

• /root/ACloudViewer/core/include/RegistrationTools.h