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.
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.

Detailed Description

Controls CVM3DMatchPointCloudsAdvanced.

Field Documentation

CorrespondenceThreshold

double 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.