Struct AdaptiveThreshold

Struct Documentation

struct AdaptiveThreshold

Adaptive threshold for ICP registration.

Public Functions

explicit AdaptiveThreshold(double max_range, double initial_threshold = 2.0, double min_motion_threshold = 0.01)

Constructor for Adaptive threshold.

Parameters:

  • max_range[in] Maximum range of the sensor.

  • initial_threshold[in] Initial threshold.

  • min_motion_threshold[in] Minimum motion threshold.

void update_model_deviation(const core::Matrix4dR &current_deviation)

Update the current belief of the deviation from the prediction model.

Parameters:

current_deviation[in] Current deviation.

inline double compute_threshold() const

Returns the KISS-ICP adaptive threshold used in registration.

Returns:

The KISS-ICP adaptive threshold used in registration.

Public Members

double min_motion_threshold_

Minimum motion threshold.

double max_range_

Maximum range.

double model_sse_

Model SSE.

int num_samples_

Number of samples.