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