reusex::slam::FramePairIcpOptions Struct Reference

Knobs of refine_frame_pair_icp(). More...

#include <frame_pair_icp.hpp>

Public Attributes
int	pixel_step = 4
	sample every Nth depth pixel
float	min_depth_m = 0.3f
	drop closer returns
float	max_depth_m = 4.0f
	drop farther returns
int	max_iterations = 50
	STANDARDS §6: a deterministic bound.
double	max_correspondence_m = 0.5
	initial correspondence window
float	inlier_threshold_m = 0.05f
	gate for inlier_fraction

Detailed Description

Knobs of refine_frame_pair_icp().

The defaults mirror the merged-cloud pipeline (segmentation/reconstruct.cpp), so ICP sees the density and depth range rux create clouds uses.

Definition at line 23 of file frame_pair_icp.hpp.

Member Data Documentation

inlier_threshold_m

float reusex::slam::FramePairIcpOptions::inlier_threshold_m = 0.05f

gate for inlier_fraction

Definition at line 29 of file frame_pair_icp.hpp.

max_correspondence_m

double reusex::slam::FramePairIcpOptions::max_correspondence_m = 0.5

initial correspondence window

Definition at line 28 of file frame_pair_icp.hpp.

max_depth_m

float reusex::slam::FramePairIcpOptions::max_depth_m = 4.0f

drop farther returns

Definition at line 26 of file frame_pair_icp.hpp.

max_iterations

int reusex::slam::FramePairIcpOptions::max_iterations = 50

STANDARDS §6: a deterministic bound.

Definition at line 27 of file frame_pair_icp.hpp.

min_depth_m

float reusex::slam::FramePairIcpOptions::min_depth_m = 0.3f

drop closer returns

Definition at line 25 of file frame_pair_icp.hpp.

pixel_step

int reusex::slam::FramePairIcpOptions::pixel_step = 4

sample every Nth depth pixel

Definition at line 24 of file frame_pair_icp.hpp.

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

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