CVM3DMatchExtendedParameters Struct Reference

Controls CVM3DMatchPointCloudsAdvanced. More...

## Data Fields | |

double | ConvergenceRadius |

Convergence radius to define when two points are considered as a converged match. | |

CVM3DCorrespondenceType | CorrespondenceMethod |

Correspondence type used. | |

double | CorrespondenceThreshold |

Parameter for shape sensitivity. More... | |

cvbint32_t | major |

If 1, use PointCloudScene as reference (not used yet). | |

cvbval_t | MaxIterations |

Maximum number of iterations to calculate. | |

double | MinImprovement |

The mean distance between aligned point clouds has to differ more than this value from the results of the previous iteration. Otherwise iteration stops. | |

cvbint32_t | minor |

If 1, use PointCloudModel as reference (not used yet). | |

cvbbool_t | Prealign |

Set to true, if pre-alignement of point clouds should be done using the center of gravity. | |

double | Tolerance |

Iteration stops if mean distance between aligned point clouds is equal/below this value. | |

Controls CVM3DMatchPointCloudsAdvanced.

CorrespondenceThreshold |

Parameter for shape sensitivity.

It is defined by a float value between 0 and 1. A higher value means higher sensitivity. A value of 0 corresponds to the classical ICP without any shape sensitivity. A value between 0.8 and 0.9 is recommended as default value when aligning point clouds.