Struct holding the parameters to be used in the matching algorithm. More...
#include <Match3D.hpp>
Public Attributes | |
| int | maxIterations |
| Maximum number of iterations during which the algorithm is trying to match the model and the part. | |
| float | maxTranslationError |
| The end condition with respect to translation. | |
| float | maxRotationError |
| The end condition with respect to rotation. | |
| bool | extractFeatures |
| Use feature extraction to choose more relevant points to do the matching. | |
Struct holding the parameters to be used in the matching algorithm.
The matching algorithm can be parameterized with the following options. The maximum number of iterations is useful for cases where the algorithm does not converge to find a result which satisfies the end criteria. This criteria is that for the current iteration, the movement performed to further match the part with the model is lower than both the given translation and rotation errors.
Maximum number of iterations during which the algorithm is trying to match the model and the part.
If this maximum is reached and the end condition is still not met, the current computed movement will be returned.
Referenced by sal3d::Match3DCoarse::operator()(), and sal3d::Match3D::operator()().
The end condition with respect to rotation.
It is met when for a given algorithm iteration the relative rotation to further match the part with the model is lower than this value. This value corresponds to 3 less the trace of the rotation of the last iteration. As a null rotation corresponds to the identity matrix, this value will be zero in case of null rotation. Small values of the maxRotationError improves the alignment accuracy increasing the number of required iterations.
Referenced by sal3d::Match3DCoarse::operator()(), and sal3d::Match3D::operator()().
The end condition with respect to translation.
It is met when for a given algorithm iteration the relative translation to further match the part with the model is lower than this value. This value corresponds to the norm of the translation between two consecutive iterations. Small values of the maxTranslationError improves the alignment accuracy increasing the number of required iterations.
Referenced by sal3d::Match3DCoarse::operator()(), and sal3d::Match3D::operator()().
by 
1.7.6.1