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ICP Constructor
Constructor to a very efficient and robust variant of the iterative closest point (ICP) algorithm.

Namespace:  Emgu.CV.PpfMatch3d
Assembly:  Emgu.CV.World (in Emgu.CV.World.dll) Version: (
public ICP(
	int iterations,
	float tolerence = 0.05f,
	float rejectionScale = 2.5f,
	int numLevels = 6,
	ICPSamplingType sampleType = ICPSamplingType.Uniform,
	int numMaxCorr = 1


Type: SystemInt32
number of iterations
tolerence (Optional)
Type: SystemSingle
Controls the accuracy of registration at each iteration of ICP.
rejectionScale (Optional)
Type: SystemSingle
Robust outlier rejection is applied for robustness. This value actually corresponds to the standard deviation coefficient. Points with rejectionScale * sigma are ignored during registration.
numLevels (Optional)
Type: SystemInt32
Number of pyramid levels to proceed. Deep pyramids increase speed but decrease accuracy. Too coarse pyramids might have computational overhead on top of the inaccurate registrtaion. This parameter should be chosen to optimize a balance. Typical values range from 4 to 10.
sampleType (Optional)
Type: Emgu.CV.PpfMatch3dICPSamplingType
Currently this parameter is ignored and only uniform sampling is applied.
numMaxCorr (Optional)
Type: SystemInt32
Currently this parameter is ignored and only PickyICP is applied. Leave it as 1.
See Also