Parameters that are used for sampling of the MultiwayICP objects. More...

#include <MRMultiwayICP.h>

Public Types
enum class	CascadeMode { Sequential , AABBTreeBased }

Public Attributes
float	samplingVoxelSize = 0
	sampling size of each object, 0 has special meaning "take all valid points"

int	maxGroupSize = 64

enum MR::MultiwayICPSamplingParameters::CascadeMode	AABBTreeBased

ProgressCallback	cb
	callback for progress reports

Detailed Description

Parameters that are used for sampling of the MultiwayICP objects.

Member Enumeration Documentation

◆ CascadeMode

enum class MR::MultiwayICPSamplingParameters::CascadeMode

strong

Enumerator

Sequential

AABBTreeBased

separates objects on groups based on their index in ICPObjects (good if all objects about the size of all objects together)

builds AABB tree based on each object bounding box and separates subtrees (good if each object much smaller then all objects together)

Member Data Documentation

◆ AABBTreeBased

enum MR::MultiwayICPSamplingParameters::CascadeMode MR::MultiwayICPSamplingParameters::AABBTreeBased

◆ cb

ProgressCallback MR::MultiwayICPSamplingParameters::cb

callback for progress reports

◆ maxGroupSize

int MR::MultiwayICPSamplingParameters::maxGroupSize = 64

size of maximum icp group to work with; if the number of objects exceeds this value, icp is applied in cascade mode; maxGroupSize = 1 means that every object is moved independently on half distance to the previous position of all other objects; maxGroupSize = 0 means that a big system of equations for all objects is solved (force no cascading)

◆ samplingVoxelSize

float MR::MultiwayICPSamplingParameters::samplingVoxelSize = 0

sampling size of each object, 0 has special meaning "take all valid points"

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

MRMultiwayICP.h

Public Types

Public Attributes