A parameter set for ICP matching and down sampling point clouds. More...
Inherits object.
Properties | |
convergence_radius = property | |
float: Gets or sets convergence radius to define when two points are considered as a converged match. | |
correspondence_method = property | |
int: Gets or sets correspondence type used (see cvb.match_3d.CorrespondenceType). | |
correspondence_threshold = property | |
float: Gets or sets parameter for shape sensitivity. | |
max_iterations = property | |
int: Gets or sets maximum number of iterations to execute. | |
max_model_points = property | |
int: Gets or sets maximum number of model points to use. More... | |
max_scene_points = property | |
int: Gets or sets maximum number of scene points to use. More... | |
min_improvement = property | |
float: Gets or sets threshold for minimum improvement for early stopping criteria. | |
pre_align = property | |
bool: Gets or sets pre-alignment configuration. | |
tolerance = property | |
float: Gets or sets tolerance for stopping criteria. | |
A parameter set for ICP matching and down sampling point clouds.
Instantiates a MatchingParameters object.
max_scene_points : int Maximum number of scene points to use. Points are selected randomly. If zero, all points are used.
max_model_points : int Maximum number of model points to use. Points are selected randomly. If zero, all points are used.
max_iterations : int Maximum number of iterations to execute (optional, default value = 20).
tolerance : float Iteration stops if mean distance between aligned point clouds is equal/below this value (optional, default value = 1e-9).
min_improvement : float The mean distance between aligned point clouds has to differ more than this value from the results of the previous iteration. Otherwise iteration stops (optional, default value = 1e-5).
correspondence_threshold : float Parameter for shape sensitivity. It is defined by a 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 (optional, default value = 0.8).
convergence_radius : float Convergence radius to define when two points are considered as a converged match (optional, default value = 1e-4).
pre_align : bool True, if pre-alignment of point clouds should be done using the center of gravity (optional, default value = False).
correspondence_method : int Correspondence type used (see cvb.match_3d.CorrespondenceType) (optional, default value = cvb.match_3d.CorrespondenceType.ConsensusICP).
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int: Gets or sets maximum number of model points to use.
If zero, all points are used.
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static |
int: Gets or sets maximum number of scene points to use.
If zero, all points are used.