MR::ICPProperties Struct Reference

#include <MRICP.h>

Public Attributes
ICPMethod	method = ICPMethod::PointToPlane
	The method how to update transformation from point pairs.
float	p2plAngleLimit = PI_F / 6.0f
	Rotation angle during one iteration of PointToPlane will be limited by this value.
float	p2plScaleLimit = 2
	Scaling during one iteration of PointToPlane will be limited by this value.
float	cosTreshold = 0.7f
	Points pair will be counted only if cosine between surface normals in points is higher.
float	distThresholdSq = 1.f
	Points pair will be counted only if squared distance between points is lower than.
float	farDistFactor = 3.f
ICPMode	icpMode = ICPMode::AnyRigidXf
	Finds only translation. Rotation part is identity matrix.
Vector3f	fixedRotationAxis
	If this vector is not zero then rotation is allowed relative to this axis only.
int	iterLimit = 10
	maximum iterations
int	badIterStopCount = 3
	maximum iterations without improvements
float	exitVal = 0
	Algorithm target root-mean-square distance. As soon as it is reached, the algorithm stops.
bool	mutualClosest = false
	a pair of points is formed only if both points in the pair are mutually closest (reciprocity test passed)

Member Data Documentation

badIterStopCount

int MR::ICPProperties::badIterStopCount = 3

maximum iterations without improvements

cosTreshold

float MR::ICPProperties::cosTreshold = 0.7f

Points pair will be counted only if cosine between surface normals in points is higher.

distThresholdSq

float MR::ICPProperties::distThresholdSq = 1.f

Points pair will be counted only if squared distance between points is lower than.

exitVal

float MR::ICPProperties::exitVal = 0

Algorithm target root-mean-square distance. As soon as it is reached, the algorithm stops.

farDistFactor

float MR::ICPProperties::farDistFactor = 3.f

Points pair will be counted only if distance between points is lower than root-mean-square distance times this factor

fixedRotationAxis

Vector3f MR::ICPProperties::fixedRotationAxis

If this vector is not zero then rotation is allowed relative to this axis only.

icpMode

ICPMode MR::ICPProperties::icpMode = ICPMode::AnyRigidXf

Finds only translation. Rotation part is identity matrix.

iterLimit

int MR::ICPProperties::iterLimit = 10

maximum iterations

method

ICPMethod MR::ICPProperties::method = ICPMethod::PointToPlane

The method how to update transformation from point pairs.

mutualClosest

bool MR::ICPProperties::mutualClosest = false

a pair of points is formed only if both points in the pair are mutually closest (reciprocity test passed)

p2plAngleLimit

float MR::ICPProperties::p2plAngleLimit = PI_F / 6.0f

Rotation angle during one iteration of PointToPlane will be limited by this value.

p2plScaleLimit

float MR::ICPProperties::p2plScaleLimit = 2

Scaling during one iteration of PointToPlane will be limited by this value.

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

• MRICP.h