parameters of ICP algorithm More...

#include <MRICP.h>

Public Attributes
ICPMethod	method = ICPMethod::PointToPlane
	The method how to update transformation from point pairs, see description of each option in ICPMethod.

float	p2plAngleLimit = PI_F / 6.0f

float	p2plScaleLimit = 2
	[radians]

float	cosThreshold = 0.7f

float	distThresholdSq = 1.f
	in [-1,1]

float	farDistFactor = 3.f
	[distance^2]

ICPMode	icpMode = ICPMode::AnyRigidXf
	dimensionless

Vector3f	fixedRotationAxis
	Additional parameter for ICPMode::OrthogonalAxis and ICPMode::FixedAxis transformation groups.

int	iterLimit = 10

int	badIterStopCount = 3

float	exitVal = 0

bool	mutualClosest = false
	[distance]

Detailed Description

parameters of ICP algorithm

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

Public Attributes