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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f93768a68ffc2367e7100c40b4e616a.html">small_gicp</a></li><li class="navelem"><a class="el" href="dir_b9dd3af08b5360c2148fef90713dd643.html">registration</a></li> </ul>
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<div class="title">registration_helper.hpp</div> </div>
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<a href="registration__helper_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// SPDX-License-Identifier: MIT</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#pragma once</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  </div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <<a class="code" href="kdtree_8hpp.html">small_gicp/ann/kdtree.hpp</a>></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <<a class="code" href="gaussian__voxelmap_8hpp.html">small_gicp/ann/gaussian_voxelmap.hpp</a>></span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <<a class="code" href="point__cloud_8hpp.html">small_gicp/points/point_cloud.hpp</a>></span></div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <<a class="code" href="registration__result_8hpp.html">small_gicp/registration/registration_result.hpp</a>></span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="keyword">namespace </span><a class="code" href="namespacesmall__gicp.html">small_gicp</a> {</div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  </div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> std::pair<PointCloud::Ptr, std::shared_ptr<KdTree<PointCloud>>></div>
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<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="namespacesmall__gicp.html#a30d5bdb69c71e494dc85a8556faae960"> 20</a></span> <a class="code" href="namespacesmall__gicp.html#a30d5bdb69c71e494dc85a8556faae960">preprocess_points</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>& points, <span class="keywordtype">double</span> downsampling_resolution, <span class="keywordtype">int</span> num_neighbors = 10, <span class="keywordtype">int</span> num_threads = 4);</div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T, <span class="keywordtype">int</span> D></div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> std::pair<PointCloud::Ptr, std::shared_ptr<KdTree<PointCloud>>></div>
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<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="namespacesmall__gicp.html#aae1dd13209cbd2d115f1a0f2e5561822"> 28</a></span> <a class="code" href="namespacesmall__gicp.html#a30d5bdb69c71e494dc85a8556faae960">preprocess_points</a>(<span class="keyword">const</span> std::vector<Eigen::Matrix<T, D, 1>>& points, <span class="keywordtype">double</span> downsampling_resolution, <span class="keywordtype">int</span> num_neighbors = 10, <span class="keywordtype">int</span> num_threads = 4);</div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
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<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="namespacesmall__gicp.html#a99e4cfa9b94a792b53670478502cabfe"> 34</a></span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#aa3359e10645a4a9418161590aa55fe0c">GaussianVoxelMap::Ptr</a> <a class="code" href="namespacesmall__gicp.html#a99e4cfa9b94a792b53670478502cabfe">create_gaussian_voxelmap</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>& points, <span class="keywordtype">double</span> voxel_resolution);</div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
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<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationSetting.html"> 37</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1RegistrationSetting.html">RegistrationSetting</a> {</div>
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<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797a43f2e63e36b3578c355129b19d6d5d71"> 38</a></span>  <span class="keyword">enum</span> <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797">RegistrationType</a> { <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797afa62709f019e5188d45799055deabe4a">ICP</a>, <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797ab8c3606fa42909dac6f47855f8e7d204">PLANE_ICP</a>, <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797a43f2e63e36b3578c355129b19d6d5d71">GICP</a>, <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797aeabfa9d49ef21d8b49bf8baca399cc0c">VGICP</a> };</div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
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<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationSetting.html#a4744cbc89c7b66c26d4ca1bd3c08e7af"> 40</a></span>  <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797">RegistrationType</a> <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a4744cbc89c7b66c26d4ca1bd3c08e7af">type</a> = <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797a43f2e63e36b3578c355129b19d6d5d71">GICP</a>; </div>
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<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationSetting.html#a16aa72148316c6815f2fec4726bb6d95"> 41</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a16aa72148316c6815f2fec4726bb6d95">voxel_resolution</a> = 1.0; </div>
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<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationSetting.html#afa4fa89f7696b2334547d369c0af2c91"> 42</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#afa4fa89f7696b2334547d369c0af2c91">downsampling_resolution</a> = 0.25; </div>
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<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationSetting.html#a079bab981cd213314624e1928f73c60a"> 43</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a079bab981cd213314624e1928f73c60a">max_correspondence_distance</a> = 1.0; </div>
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<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationSetting.html#a1af411ae6d5513c701636c0941560412"> 44</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a1af411ae6d5513c701636c0941560412">rotation_eps</a> = 0.1 * M_PI / 180.0; </div>
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<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationSetting.html#a439abc4acd5995277c8a8ef9187ab2e4"> 45</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a439abc4acd5995277c8a8ef9187ab2e4">translation_eps</a> = 1e-3; </div>
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<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationSetting.html#a2cc3946954d016fff296826d3bb5b6e3"> 46</a></span>  <span class="keywordtype">int</span> <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a2cc3946954d016fff296826d3bb5b6e3">num_threads</a> = 4; </div>
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<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationSetting.html#acee77066a2453568a14c946bdb2a57a2"> 47</a></span>  <span class="keywordtype">int</span> <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#acee77066a2453568a14c946bdb2a57a2">max_iterations</a> = 20; </div>
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<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RegistrationSetting.html#a9d4fbcc861be2843d2f8c5814d97c0e8"> 48</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html#a9d4fbcc861be2843d2f8c5814d97c0e8">verbose</a> = <span class="keyword">false</span>; </div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> };</div>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T, <span class="keywordtype">int</span> D></div>
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<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="namespacesmall__gicp.html#aaaac24cfd2f82c7978ccc8cb66474cf4"> 60</a></span> <a class="code" href="structsmall__gicp_1_1RegistrationResult.html">RegistrationResult</a> <a class="code" href="namespacesmall__gicp.html#aaaac24cfd2f82c7978ccc8cb66474cf4">align</a>(</div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keyword">const</span> std::vector<Eigen::Matrix<T, D, 1>>& target,</div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">const</span> std::vector<Eigen::Matrix<T, D, 1>>& source,</div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">const</span> Eigen::Isometry3d& init_T = Eigen::Isometry3d::Identity(),</div>
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<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html">RegistrationSetting</a>& setting = <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html">RegistrationSetting</a>());</div>
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<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div>
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<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="namespacesmall__gicp.html#a4f2f329a192d4effb0c81e15f28b8000"> 73</a></span> <a class="code" href="structsmall__gicp_1_1RegistrationResult.html">RegistrationResult</a> <a class="code" href="namespacesmall__gicp.html#aaaac24cfd2f82c7978ccc8cb66474cf4">align</a>(</div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>& target,</div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>& source,</div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1KdTree.html">KdTree<PointCloud></a>& target_tree,</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">const</span> Eigen::Isometry3d& init_T = Eigen::Isometry3d::Identity(),</div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html">RegistrationSetting</a>& setting = <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html">RegistrationSetting</a>());</div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
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<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="namespacesmall__gicp.html#a165555d9cdfd6138f598538fbb07f194"> 86</a></span> <a class="code" href="structsmall__gicp_1_1RegistrationResult.html">RegistrationResult</a> <a class="code" href="namespacesmall__gicp.html#aaaac24cfd2f82c7978ccc8cb66474cf4">align</a>(</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">GaussianVoxelMap</a>& target,</div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>& source,</div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keyword">const</span> Eigen::Isometry3d& init_T = Eigen::Isometry3d::Identity(),</div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html">RegistrationSetting</a>& setting = <a class="code" href="structsmall__gicp_1_1RegistrationSetting.html">RegistrationSetting</a>());</div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div>
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<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> } <span class="comment">// namespace small_gicp</span></div>
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<div class="ttc" id="agaussian__voxelmap_8hpp_html"><div class="ttname"><a href="gaussian__voxelmap_8hpp.html">gaussian_voxelmap.hpp</a></div></div>
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<div class="ttc" id="akdtree_8hpp_html"><div class="ttname"><a href="kdtree_8hpp.html">kdtree.hpp</a></div></div>
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<div class="ttc" id="anamespacesmall__gicp_html"><div class="ttname"><a href="namespacesmall__gicp.html">small_gicp</a></div><div class="ttdef"><b>Definition:</b> flat_container.hpp:12</div></div>
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<div class="ttc" id="anamespacesmall__gicp_html_a30d5bdb69c71e494dc85a8556faae960"><div class="ttname"><a href="namespacesmall__gicp.html#a30d5bdb69c71e494dc85a8556faae960">small_gicp::preprocess_points</a></div><div class="ttdeci">std::pair< PointCloud::Ptr, std::shared_ptr< KdTree< PointCloud > > > preprocess_points(const PointCloud &points, double downsampling_resolution, int num_neighbors=10, int num_threads=4)</div><div class="ttdoc">Preprocess point cloud (downsampling, kdtree creation, and normal and covariance estimation).</div></div>
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<div class="ttc" id="anamespacesmall__gicp_html_a99e4cfa9b94a792b53670478502cabfe"><div class="ttname"><a href="namespacesmall__gicp.html#a99e4cfa9b94a792b53670478502cabfe">small_gicp::create_gaussian_voxelmap</a></div><div class="ttdeci">GaussianVoxelMap::Ptr create_gaussian_voxelmap(const PointCloud &points, double voxel_resolution)</div><div class="ttdoc">Create an incremental Gaussian voxel map.</div></div>
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<div class="ttc" id="anamespacesmall__gicp_html_aaaac24cfd2f82c7978ccc8cb66474cf4"><div class="ttname"><a href="namespacesmall__gicp.html#aaaac24cfd2f82c7978ccc8cb66474cf4">small_gicp::align</a></div><div class="ttdeci">RegistrationResult align(const std::vector< Eigen::Matrix< T, D, 1 >> &target, const std::vector< Eigen::Matrix< T, D, 1 >> &source, const Eigen::Isometry3d &init_T=Eigen::Isometry3d::Identity(), const RegistrationSetting &setting=RegistrationSetting())</div><div class="ttdoc">Align point clouds.</div></div>
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<div class="ttc" id="apoint__cloud_8hpp_html"><div class="ttname"><a href="point__cloud_8hpp.html">point_cloud.hpp</a></div></div>
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<div class="ttc" id="aregistration__result_8hpp_html"><div class="ttname"><a href="registration__result_8hpp.html">registration_result.hpp</a></div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html">small_gicp::IncrementalVoxelMap</a></div><div class="ttdoc">Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel delet...</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:38</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_aa3359e10645a4a9418161590aa55fe0c"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#aa3359e10645a4a9418161590aa55fe0c">small_gicp::IncrementalVoxelMap::Ptr</a></div><div class="ttdeci">std::shared_ptr< IncrementalVoxelMap > Ptr</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:40</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KdTree_html"><div class="ttname"><a href="structsmall__gicp_1_1KdTree.html">small_gicp::KdTree</a></div><div class="ttdoc">"Safe" KdTree that holds the ownership of the input points.</div><div class="ttdef"><b>Definition:</b> kdtree.hpp:245</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html">small_gicp::PointCloud</a></div><div class="ttdoc">Point cloud.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:15</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html">small_gicp::RegistrationResult</a></div><div class="ttdoc">Registration result.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:11</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html">small_gicp::RegistrationSetting</a></div><div class="ttdoc">Registration setting.</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:37</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_a079bab981cd213314624e1928f73c60a"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#a079bab981cd213314624e1928f73c60a">small_gicp::RegistrationSetting::max_correspondence_distance</a></div><div class="ttdeci">double max_correspondence_distance</div><div class="ttdoc">Maximum correspondence distance.</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:43</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_a16aa72148316c6815f2fec4726bb6d95"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#a16aa72148316c6815f2fec4726bb6d95">small_gicp::RegistrationSetting::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdoc">Voxel resolution for VGICP.</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:41</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_a1af411ae6d5513c701636c0941560412"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#a1af411ae6d5513c701636c0941560412">small_gicp::RegistrationSetting::rotation_eps</a></div><div class="ttdeci">double rotation_eps</div><div class="ttdoc">Rotation tolerance for convergence check [rad].</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:44</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_a2cc3946954d016fff296826d3bb5b6e3"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#a2cc3946954d016fff296826d3bb5b6e3">small_gicp::RegistrationSetting::num_threads</a></div><div class="ttdeci">int num_threads</div><div class="ttdoc">Number of threads.</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:46</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_a439abc4acd5995277c8a8ef9187ab2e4"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#a439abc4acd5995277c8a8ef9187ab2e4">small_gicp::RegistrationSetting::translation_eps</a></div><div class="ttdeci">double translation_eps</div><div class="ttdoc">Translation tolerance for convergence check.</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:45</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_a4744cbc89c7b66c26d4ca1bd3c08e7af"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#a4744cbc89c7b66c26d4ca1bd3c08e7af">small_gicp::RegistrationSetting::type</a></div><div class="ttdeci">RegistrationType type</div><div class="ttdoc">Registration type.</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:40</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_a8bb1a1677d7ee804cd0f512c0329a797"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797">small_gicp::RegistrationSetting::RegistrationType</a></div><div class="ttdeci">RegistrationType</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:38</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_a8bb1a1677d7ee804cd0f512c0329a797a43f2e63e36b3578c355129b19d6d5d71"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797a43f2e63e36b3578c355129b19d6d5d71">small_gicp::RegistrationSetting::GICP</a></div><div class="ttdeci">@ GICP</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:38</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_a8bb1a1677d7ee804cd0f512c0329a797ab8c3606fa42909dac6f47855f8e7d204"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797ab8c3606fa42909dac6f47855f8e7d204">small_gicp::RegistrationSetting::PLANE_ICP</a></div><div class="ttdeci">@ PLANE_ICP</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:38</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_a8bb1a1677d7ee804cd0f512c0329a797aeabfa9d49ef21d8b49bf8baca399cc0c"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797aeabfa9d49ef21d8b49bf8baca399cc0c">small_gicp::RegistrationSetting::VGICP</a></div><div class="ttdeci">@ VGICP</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:38</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_a8bb1a1677d7ee804cd0f512c0329a797afa62709f019e5188d45799055deabe4a"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797afa62709f019e5188d45799055deabe4a">small_gicp::RegistrationSetting::ICP</a></div><div class="ttdeci">@ ICP</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:38</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_a9d4fbcc861be2843d2f8c5814d97c0e8"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#a9d4fbcc861be2843d2f8c5814d97c0e8">small_gicp::RegistrationSetting::verbose</a></div><div class="ttdeci">bool verbose</div><div class="ttdoc">Verbose mode.</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:48</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_acee77066a2453568a14c946bdb2a57a2"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#acee77066a2453568a14c946bdb2a57a2">small_gicp::RegistrationSetting::max_iterations</a></div><div class="ttdeci">int max_iterations</div><div class="ttdoc">Maximum number of iterations.</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:47</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationSetting_html_afa4fa89f7696b2334547d369c0af2c91"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationSetting.html#afa4fa89f7696b2334547d369c0af2c91">small_gicp::RegistrationSetting::downsampling_resolution</a></div><div class="ttdeci">double downsampling_resolution</div><div class="ttdoc">Downsample resolution (this will be used only in the Eigen-based interface)</div><div class="ttdef"><b>Definition:</b> registration_helper.hpp:42</div></div>
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