config_example.txt

# Config file for GO-ICP

# Mean Squared Error (MSE) convergence threshold
MSEThresh=0.001

# Smallest rotation value along dimension X of rotation cube (radians)
rotMinX=-3.1416
# Smallest rotation value along dimension Y of rotation cube (radians)
rotMinY=-3.1416
# Smallest rotation value along dimension Z of rotation cube (radians)
rotMinZ=-3.1416
# Side length of each dimension of rotation cube (radians)
rotWidth=6.2832

# Smallest translation value along dimension X of translation cube
transMinX=-0.5
# Smallest translation value along dimension Y of translation cube
transMinY=-0.5
# Smallest translation value along dimension Z of translation cube
transMinZ=-0.5
# Side length of each dimension of translation cube
transWidth=1.0

# Set to 0.0 for no trimming
trimFraction=0.0

# Nodes per dimension of distance transform
distTransSize=300
# DistanceTransformWidth = ExpandFactor x WidthLargestDimension
distTransExpandFactor=2.0