Registration setting. More...

#include <registration_helper.hpp>

Public Types
enum	RegistrationType { ICP , PLANE_ICP , GICP , VGICP }

Public Attributes
RegistrationType	type = GICP
	Registration type. More...

double	voxel_resolution = 1.0
	Voxel resolution for VGICP. More...

double	downsampling_resolution = 0.25
	Downsample resolution (this will be used only in the Eigen-based interface) More...

double	max_correspondence_distance = 1.0
	Maximum correspondence distance. More...

double	rotation_eps = 0.1 * M_PI / 180.0
	Rotation tolerance for convergence check [rad]. More...

double	translation_eps = 1e-3
	Translation tolerance for convergence check. More...

int	num_threads = 4
	Number of threads. More...

int	max_iterations = 20
	Maximum number of iterations. More...

bool	verbose = false
	Verbose mode. More...

Detailed Description

Registration setting.

Member Enumeration Documentation

◆ RegistrationType

enum small_gicp::RegistrationSetting::RegistrationType

Enumerator
ICP
PLANE_ICP
GICP
VGICP

Member Data Documentation

◆ downsampling_resolution

double small_gicp::RegistrationSetting::downsampling_resolution = 0.25

Downsample resolution (this will be used only in the Eigen-based interface)

◆ max_correspondence_distance

double small_gicp::RegistrationSetting::max_correspondence_distance = 1.0

Maximum correspondence distance.

◆ max_iterations

int small_gicp::RegistrationSetting::max_iterations = 20

Maximum number of iterations.

◆ num_threads

int small_gicp::RegistrationSetting::num_threads = 4

Number of threads.

◆ rotation_eps

double small_gicp::RegistrationSetting::rotation_eps = 0.1 * M_PI / 180.0

Rotation tolerance for convergence check [rad].

◆ translation_eps

double small_gicp::RegistrationSetting::translation_eps = 1e-3

Translation tolerance for convergence check.

◆ type

RegistrationType small_gicp::RegistrationSetting::type = GICP

Registration type.

◆ verbose

bool small_gicp::RegistrationSetting::verbose = false

Verbose mode.

◆ voxel_resolution

double small_gicp::RegistrationSetting::voxel_resolution = 1.0

Voxel resolution for VGICP.

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

/home/runner/work/small_gicp/small_gicp/include/small_gicp/registration/registration_helper.hpp

Public Types

Public Attributes