reusex::geometry::JprParams Struct Reference

Parameters for joint pairwise pose refinement. More...

#include <JointPairwiseRegistration.hpp>

Collaboration diagram for reusex::geometry::JprParams:

Public Types
enum class	Kernel { welsch , huber }

Public Attributes
int	max_iterations = 20
	maximum Gauss-Newton outer iterations
int	neighbor_window = 5
	temporal pairing half-window
float	max_corr_distance = 0.10f
	reject correspondences beyond this (m)
float	normal_angle_threshold
	reject if normals disagree beyond (deg)
float	robust_width
	robust kernel width (m): Welsch sigma / Huber delta
Kernel	kernel = Kernel::welsch
float	prior_weight
	soft prior pulling poses toward seeds (0 disables)
int	anchor_frame = -1
	frame index (not node_id) to hard-fix; -1 = none
float	convergence_eps = 1e-4f
	stop when max per-frame ||dxi|| below this
SurfelExtractionParams	surfel
	surfel extraction settings

Detailed Description

Parameters for joint pairwise pose refinement.

Definition at line 41 of file JointPairwiseRegistration.hpp.

Member Enumeration Documentation

Kernel

enum class reusex::geometry::JprParams::Kernel

strong

Enumerator
welsch
huber

Definition at line 50 of file JointPairwiseRegistration.hpp.

Member Data Documentation

anchor_frame

int reusex::geometry::JprParams::anchor_frame = -1

frame index (not node_id) to hard-fix; -1 = none

Definition at line 55 of file JointPairwiseRegistration.hpp.

convergence_eps

float reusex::geometry::JprParams::convergence_eps = 1e-4f

stop when max per-frame ||dxi|| below this

Definition at line 56 of file JointPairwiseRegistration.hpp.

kernel

Kernel reusex::geometry::JprParams::kernel = Kernel::welsch

Definition at line 51 of file JointPairwiseRegistration.hpp.

max_corr_distance

float reusex::geometry::JprParams::max_corr_distance = 0.10f

reject correspondences beyond this (m)

Definition at line 44 of file JointPairwiseRegistration.hpp.

max_iterations

int reusex::geometry::JprParams::max_iterations = 20

maximum Gauss-Newton outer iterations

Definition at line 42 of file JointPairwiseRegistration.hpp.

neighbor_window

int reusex::geometry::JprParams::neighbor_window = 5

temporal pairing half-window

Definition at line 43 of file JointPairwiseRegistration.hpp.

normal_angle_threshold

float reusex::geometry::JprParams::normal_angle_threshold

Initial value:

                         =
45.f

reject if normals disagree beyond (deg)

Definition at line 45 of file JointPairwiseRegistration.hpp.

prior_weight

float reusex::geometry::JprParams::prior_weight

Initial value:

               =
1.0f

soft prior pulling poses toward seeds (0 disables)

Definition at line 53 of file JointPairwiseRegistration.hpp.

robust_width

float reusex::geometry::JprParams::robust_width

Initial value:

               =
0.05f

robust kernel width (m): Welsch sigma / Huber delta

Definition at line 47 of file JointPairwiseRegistration.hpp.

surfel

SurfelExtractionParams reusex::geometry::JprParams::surfel

surfel extraction settings

Definition at line 58 of file JointPairwiseRegistration.hpp.

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

• libs/reusex/include/slam/JointPairwiseRegistration.hpp