GlobalRegistration::Match4PCSOptions Struct Reference

delta and overlap_estimation are the application parameters. All other parameters are more likely to keep fixed and they can be set via the setters. More...

Collaboration diagram for GlobalRegistration::Match4PCSOptions:

Public Types
using	Scalar = typename Point3D::Scalar

Public Member Functions
	Match4PCSOptions ()
bool	configureOverlap (Scalar overlap_, Scalar terminate_threshold_=Scalar(1))
Scalar	getTerminateThreshold () const
Scalar	getOverlapEstimation () const

Public Attributes
Scalar	delta = 5.0
	The delta for the LCP (see the paper). More...
Scalar	max_normal_difference = -1
	Maximum normal difference. More...
Scalar	max_translation_distance = -1
	Maximum translation distance. Set negative to ignore. More...
Scalar	max_angle = -1
	Maximum rotation angle. Set negative to ignore. More...
Scalar	max_color_distance = -1
	Maximum color RGB distance between corresponding vertices. Set negative to ignore. More...
size_t	sample_size = 200
	The number of points in the sample. We sample this number of points uniformly from P and Q. More...
int	max_time_seconds = 60
	Maximum time we allow the computation to take. This makes the algorithm an ANY TIME algorithm that can be stopped at any time, producing the best solution so far. More...
unsigned int	randomSeed = std::mt19937::default_seed
	use a constant default seed by default More...

Detailed Description

delta and overlap_estimation are the application parameters. All other parameters are more likely to keep fixed and they can be set via the setters.

Member Typedef Documentation

Scalar

using GlobalRegistration::Match4PCSOptions::Scalar = typename Point3D::Scalar

Constructor & Destructor Documentation

Match4PCSOptions()

GlobalRegistration::Match4PCSOptions::Match4PCSOptions ( )

inline

Member Function Documentation

configureOverlap()

bool GlobalRegistration::Match4PCSOptions::configureOverlap ( Scalar  overlap_, Scalar  terminate_threshold_ = Scalar(1)  )

inline

getOverlapEstimation()

Scalar GlobalRegistration::Match4PCSOptions::getOverlapEstimation ( ) const

inline

getTerminateThreshold()

Scalar GlobalRegistration::Match4PCSOptions::getTerminateThreshold ( ) const

inline

Member Data Documentation

delta

Scalar GlobalRegistration::Match4PCSOptions::delta = 5.0

The delta for the LCP (see the paper).

max_angle

Scalar GlobalRegistration::Match4PCSOptions::max_angle = -1

Maximum rotation angle. Set negative to ignore.

max_color_distance

Scalar GlobalRegistration::Match4PCSOptions::max_color_distance = -1

Maximum color RGB distance between corresponding vertices. Set negative to ignore.

max_normal_difference

Scalar GlobalRegistration::Match4PCSOptions::max_normal_difference = -1

Maximum normal difference.

max_time_seconds

int GlobalRegistration::Match4PCSOptions::max_time_seconds = 60

Maximum time we allow the computation to take. This makes the algorithm an ANY TIME algorithm that can be stopped at any time, producing the best solution so far.

max_translation_distance

Scalar GlobalRegistration::Match4PCSOptions::max_translation_distance = -1

Maximum translation distance. Set negative to ignore.

randomSeed

unsigned int GlobalRegistration::Match4PCSOptions::randomSeed = std::mt19937::default_seed

use a constant default seed by default

sample_size

size_t GlobalRegistration::Match4PCSOptions::sample_size = 200

The number of points in the sample. We sample this number of points uniformly from P and Q.