Struct ICPRegistration¶

Defined in File icp_registration.h

Struct Documentation¶

struct ICPRegistration¶

ICP registration for point cloud mapping.

Public Functions

explicit ICPRegistration(int max_num_iteration = 50, double convergence_criterion = 0.0001, int max_num_threads = 0)¶

Constructor for ICP registration.

Parameters:

max_num_iteration[in] Maximum number of ICP iterations.
convergence_criterion[in] Convergence criterion.
max_num_threads[in] Maximum number of threads.

core::Matrix4dR align_points_to_map(const std::vector<Eigen::Vector3d> &frame, const ouster::sdk::core::VoxelHashMap3d &voxel_map, const double max_distance, const double kernel_scale) const¶

Align points to map using 3D voxel map.

Parameters:

frame[in] Points to align.
voxel_map[in] 3D voxel map.
max_distance[in] Maximum distance to search for correspondences.
kernel_scale[in] Kernel scale.

Returns:

Aligned points.

core::Matrix4dR align_points_to_map(const std::vector<Eigen::Vector3d> &frame, const ouster::sdk::core::VoxelHashMapXd &voxel_map, const double max_distance, const double kernel_scale) const¶

Align points to map using X-dimensional voxel map.

Parameters:

frame[in] Points to align.
voxel_map[in] X-dimensional voxel map.
max_distance[in] Maximum distance to search for correspondences.
kernel_scale[in] Kernel scale.

Returns:

Aligned points.

Public Members

int max_num_iterations_¶: Maximum number of ICP iterations.

double convergence_criterion_¶: Convergence criterion.

int max_num_threads_¶: Maximum number of threads.