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expose termination criterion (#8)

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koide3 2024-04-03 11:30:44 +09:00 committed by GitHub
parent 42d86e2d7a
commit 3cc60c0187
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2 changed files with 10 additions and 0 deletions
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2
include/small_gicp/registration/registration_helper.hpp
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@ -36,6 +36,8 @@ struct RegistrationSetting {
double voxel_resolution = 1.0; ///< Voxel resolution for VGICP
double downsampling_resolution = 0.25; ///< Downsample resolution (this will be used only in the Eigen-based interface)
double max_correspondence_distance = 1.0; ///< Maximum correspondence distance
double rotation_eps = 0.1 * M_PI / 180.0; ///< Rotation tolerance for convergence check [rad]
double translation_eps = 1e-3; ///< Translation tolerance for convergence check
int num_threads = 4; ///< Number of threads
};

8
src/small_gicp/registration/registration_helper.cpp
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@ -88,18 +88,24 @@ align(const PointCloud& target, const PointCloud& source, const KdTree<PointClou
Registration<ICPFactor, ParallelReductionOMP> registration;
registration.reduction.num_threads = setting.num_threads;
registration.rejector.max_dist_sq = setting.max_correspondence_distance * setting.max_correspondence_distance;
registration.criteria.rotation_eps = setting.rotation_eps;
registration.criteria.translation_eps = setting.translation_eps;
return registration.align(target, source, target_tree, init_T);
}
case RegistrationSetting::PLANE_ICP: {
Registration<PointToPlaneICPFactor, ParallelReductionOMP> registration;
registration.reduction.num_threads = setting.num_threads;
registration.rejector.max_dist_sq = setting.max_correspondence_distance * setting.max_correspondence_distance;
registration.criteria.rotation_eps = setting.rotation_eps;
registration.criteria.translation_eps = setting.translation_eps;
return registration.align(target, source, target_tree, init_T);
}
case RegistrationSetting::GICP: {
Registration<GICPFactor, ParallelReductionOMP> registration;
registration.reduction.num_threads = setting.num_threads;
registration.rejector.max_dist_sq = setting.max_correspondence_distance * setting.max_correspondence_distance;
registration.criteria.rotation_eps = setting.rotation_eps;
registration.criteria.translation_eps = setting.translation_eps;
return registration.align(target, source, target_tree, init_T);
}
case RegistrationSetting::VGICP: {
@ -117,6 +123,8 @@ RegistrationResult align(const GaussianVoxelMap& target, const PointCloud& sourc
Registration<GICPFactor, ParallelReductionOMP> registration;
registration.reduction.num_threads = setting.num_threads;
registration.criteria.rotation_eps = setting.rotation_eps;
registration.criteria.translation_eps = setting.translation_eps;
return registration.align(target, source, target, init_T);
}