MULLS Reg Parameter List

Parameters	Description	Default value
cloud_1_down_res	voxel size (m) of the voxel downsampling for the target point cloud. If it is set as 0.0, voxel downsampling would be disabled	0.05
cloud_2_down_res	similar to ${cloud_1_down_res}, for the source point cloud	0.05
gf_grid_size	grid size (m) for ground segmentation	2.0
gf_in_grid_h_thre	height threshold (m) above the lowest point in a grid for ground segmentation	0.3
gf_neigh_grid_h_thre	height threshold(m) among neighbor grids for ground segmentation	2.2
gf_max_h	max height(m) allowed for ground point	DBL_MAX
pca_neighbor_radius	PCA neighborhood searching radius (unit: m)	1.0
pca_neighbor_count	use only the k nearest neighbor in the r-neighborhood to do PCA	20
linearity_thre	PCA linearity threshold	0.6
planarity_thre	PCA planarity threshold	0.6
curvature_thre	PCA local curvature threshold	0.1
reg_max_iter_num	max iteration number for icp-based registration	25
is_global_reg	allow the global registration without good enough initial guess (MULLS-ICP with multliple rotation initial guess would be used)	true
corr_num	number of the correspondence used for global coarse registration based on feature matching	1000
reciprocal_corr_on	Using reciprocal feature matching to find correspondences	false
teaser_on	use TEASER++ to do the global coarse registration or not, only available when TEARSER++ is installed properly	false