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<li class="navelem"><a class="el" href="namespacesmall__gicp.html">small_gicp</a></li><li class="navelem"><a class="el" href="structsmall__gicp_1_1RegistrationSetting.html">RegistrationSetting</a></li> </ul>
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<p><a class="el" href="structsmall__gicp_1_1Registration.html" title="Point cloud registration.">Registration</a> setting.
<a href="structsmall__gicp_1_1RegistrationSetting.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="registration__helper_8hpp_source.html">registration_helper.hpp</a>&gt;</code></p>
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Public Types</h2></td></tr>
<tr class="memitem:a8bb1a1677d7ee804cd0f512c0329a797"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797">RegistrationType</a> { <a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797afa62709f019e5188d45799055deabe4a">ICP</a>
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Public Attributes</h2></td></tr>
<tr class="memitem:a4744cbc89c7b66c26d4ca1bd3c08e7af"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797">RegistrationType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a4744cbc89c7b66c26d4ca1bd3c08e7af">type</a> = <a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797a43f2e63e36b3578c355129b19d6d5d71">GICP</a></td></tr>
<tr class="memdesc:a4744cbc89c7b66c26d4ca1bd3c08e7af"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structsmall__gicp_1_1Registration.html" title="Point cloud registration.">Registration</a> type. <a href="structsmall__gicp_1_1RegistrationSetting.html#a4744cbc89c7b66c26d4ca1bd3c08e7af">More...</a><br /></td></tr>
<tr class="separator:a4744cbc89c7b66c26d4ca1bd3c08e7af"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a16aa72148316c6815f2fec4726bb6d95"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a16aa72148316c6815f2fec4726bb6d95">voxel_resolution</a> = 1.0</td></tr>
<tr class="memdesc:a16aa72148316c6815f2fec4726bb6d95"><td class="mdescLeft">&#160;</td><td class="mdescRight">Voxel resolution for VGICP. <a href="structsmall__gicp_1_1RegistrationSetting.html#a16aa72148316c6815f2fec4726bb6d95">More...</a><br /></td></tr>
<tr class="separator:a16aa72148316c6815f2fec4726bb6d95"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="memdesc:afa4fa89f7696b2334547d369c0af2c91"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downsample resolution (this will be used only in the Eigen-based interface) <a href="structsmall__gicp_1_1RegistrationSetting.html#afa4fa89f7696b2334547d369c0af2c91">More...</a><br /></td></tr>
<tr class="separator:afa4fa89f7696b2334547d369c0af2c91"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a079bab981cd213314624e1928f73c60a"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a079bab981cd213314624e1928f73c60a">max_correspondence_distance</a> = 1.0</td></tr>
<tr class="memdesc:a079bab981cd213314624e1928f73c60a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum correspondence distance. <a href="structsmall__gicp_1_1RegistrationSetting.html#a079bab981cd213314624e1928f73c60a">More...</a><br /></td></tr>
<tr class="separator:a079bab981cd213314624e1928f73c60a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1af411ae6d5513c701636c0941560412"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a1af411ae6d5513c701636c0941560412">rotation_eps</a> = 0.1 * M_PI / 180.0</td></tr>
<tr class="memdesc:a1af411ae6d5513c701636c0941560412"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotation tolerance for convergence check [rad]. <a href="structsmall__gicp_1_1RegistrationSetting.html#a1af411ae6d5513c701636c0941560412">More...</a><br /></td></tr>
<tr class="separator:a1af411ae6d5513c701636c0941560412"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a439abc4acd5995277c8a8ef9187ab2e4"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a439abc4acd5995277c8a8ef9187ab2e4">translation_eps</a> = 1e-3</td></tr>
<tr class="memdesc:a439abc4acd5995277c8a8ef9187ab2e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Translation tolerance for convergence check. <a href="structsmall__gicp_1_1RegistrationSetting.html#a439abc4acd5995277c8a8ef9187ab2e4">More...</a><br /></td></tr>
<tr class="separator:a439abc4acd5995277c8a8ef9187ab2e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2cc3946954d016fff296826d3bb5b6e3"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a2cc3946954d016fff296826d3bb5b6e3">num_threads</a> = 4</td></tr>
<tr class="memdesc:a2cc3946954d016fff296826d3bb5b6e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of threads. <a href="structsmall__gicp_1_1RegistrationSetting.html#a2cc3946954d016fff296826d3bb5b6e3">More...</a><br /></td></tr>
<tr class="separator:a2cc3946954d016fff296826d3bb5b6e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acee77066a2453568a14c946bdb2a57a2"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#acee77066a2453568a14c946bdb2a57a2">max_iterations</a> = 20</td></tr>
<tr class="memdesc:acee77066a2453568a14c946bdb2a57a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum number of iterations. <a href="structsmall__gicp_1_1RegistrationSetting.html#acee77066a2453568a14c946bdb2a57a2">More...</a><br /></td></tr>
<tr class="separator:acee77066a2453568a14c946bdb2a57a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9d4fbcc861be2843d2f8c5814d97c0e8"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a9d4fbcc861be2843d2f8c5814d97c0e8">verbose</a> = false</td></tr>
<tr class="memdesc:a9d4fbcc861be2843d2f8c5814d97c0e8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Verbose mode. <a href="structsmall__gicp_1_1RegistrationSetting.html#a9d4fbcc861be2843d2f8c5814d97c0e8">More...</a><br /></td></tr>
<tr class="separator:a9d4fbcc861be2843d2f8c5814d97c0e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><a class="el" href="structsmall__gicp_1_1Registration.html" title="Point cloud registration.">Registration</a> setting. </p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a id="a8bb1a1677d7ee804cd0f512c0329a797"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8bb1a1677d7ee804cd0f512c0329a797">&#9670;&nbsp;</a></span>RegistrationType</h2>
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<tr>
<td class="memname">enum <a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797">small_gicp::RegistrationSetting::RegistrationType</a></td>
</tr>
</table>
</div><div class="memdoc">
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a8bb1a1677d7ee804cd0f512c0329a797afa62709f019e5188d45799055deabe4a"></a>ICP&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="a8bb1a1677d7ee804cd0f512c0329a797ab8c3606fa42909dac6f47855f8e7d204"></a>PLANE_ICP&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="a8bb1a1677d7ee804cd0f512c0329a797a43f2e63e36b3578c355129b19d6d5d71"></a>GICP&#160;</td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="a8bb1a1677d7ee804cd0f512c0329a797aeabfa9d49ef21d8b49bf8baca399cc0c"></a>VGICP&#160;</td><td class="fielddoc"></td></tr>
</table>
</div>
</div>
<h2 class="groupheader">Member Data Documentation</h2>
<a id="afa4fa89f7696b2334547d369c0af2c91"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afa4fa89f7696b2334547d369c0af2c91">&#9670;&nbsp;</a></span>downsampling_resolution</h2>
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<td class="memname">double small_gicp::RegistrationSetting::downsampling_resolution = 0.25</td>
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<p>Downsample resolution (this will be used only in the Eigen-based interface) </p>
</div>
</div>
<a id="a079bab981cd213314624e1928f73c60a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a079bab981cd213314624e1928f73c60a">&#9670;&nbsp;</a></span>max_correspondence_distance</h2>
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<td class="memname">double small_gicp::RegistrationSetting::max_correspondence_distance = 1.0</td>
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</div><div class="memdoc">
<p>Maximum correspondence distance. </p>
</div>
</div>
<a id="acee77066a2453568a14c946bdb2a57a2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acee77066a2453568a14c946bdb2a57a2">&#9670;&nbsp;</a></span>max_iterations</h2>
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<tr>
<td class="memname">int small_gicp::RegistrationSetting::max_iterations = 20</td>
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<p>Maximum number of iterations. </p>
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<a id="a2cc3946954d016fff296826d3bb5b6e3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2cc3946954d016fff296826d3bb5b6e3">&#9670;&nbsp;</a></span>num_threads</h2>
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<td class="memname">int small_gicp::RegistrationSetting::num_threads = 4</td>
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<p>Number of threads. </p>
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<a id="a1af411ae6d5513c701636c0941560412"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1af411ae6d5513c701636c0941560412">&#9670;&nbsp;</a></span>rotation_eps</h2>
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<td class="memname">double small_gicp::RegistrationSetting::rotation_eps = 0.1 * M_PI / 180.0</td>
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<p>Rotation tolerance for convergence check [rad]. </p>
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<a id="a439abc4acd5995277c8a8ef9187ab2e4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a439abc4acd5995277c8a8ef9187ab2e4">&#9670;&nbsp;</a></span>translation_eps</h2>
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<td class="memname">double small_gicp::RegistrationSetting::translation_eps = 1e-3</td>
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<p>Translation tolerance for convergence check. </p>
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<a id="a4744cbc89c7b66c26d4ca1bd3c08e7af"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4744cbc89c7b66c26d4ca1bd3c08e7af">&#9670;&nbsp;</a></span>type</h2>
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<td class="memname"><a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797">RegistrationType</a> small_gicp::RegistrationSetting::type = <a class="el" href="structsmall__gicp_1_1RegistrationSetting.html#a8bb1a1677d7ee804cd0f512c0329a797a43f2e63e36b3578c355129b19d6d5d71">GICP</a></td>
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<p><a class="el" href="structsmall__gicp_1_1Registration.html" title="Point cloud registration.">Registration</a> type. </p>
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<a id="a9d4fbcc861be2843d2f8c5814d97c0e8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9d4fbcc861be2843d2f8c5814d97c0e8">&#9670;&nbsp;</a></span>verbose</h2>
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<td class="memname">bool small_gicp::RegistrationSetting::verbose = false</td>
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<p>Verbose mode. </p>
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<a id="a16aa72148316c6815f2fec4726bb6d95"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a16aa72148316c6815f2fec4726bb6d95">&#9670;&nbsp;</a></span>voxel_resolution</h2>
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<td class="memname">double small_gicp::RegistrationSetting::voxel_resolution = 1.0</td>
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<p>Voxel resolution for VGICP. </p>
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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>/home/runner/work/small_gicp/small_gicp/include/small_gicp/registration/<a class="el" href="registration__helper_8hpp_source.html">registration_helper.hpp</a></li>
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