From 4953158ac5661114f13ad52a26bb665ed3feadc2 Mon Sep 17 00:00:00 2001 From: Mikhail Kiselyov Date: Thu, 28 Mar 2024 21:35:31 +0300 Subject: [PATCH] add parameter to grid.map_leaf_points_cuda_ransac --- octreelib/grid/grid.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/octreelib/grid/grid.py b/octreelib/grid/grid.py index 81b2ad6..c6fa1de 100644 --- a/octreelib/grid/grid.py +++ b/octreelib/grid/grid.py @@ -126,12 +126,14 @@ def map_leaf_points_cuda_ransac( poses_per_batch: int = 10, threshold: float = 0.01, hypotheses_number: int = 1024, + initial_points_number: int = 6, ): """ transform point cloud in the node using the function :param poses_per_batch: Number of poses per batch. :param threshold: Distance threshold. :param hypotheses_number: Number of RANSAC iterations (<= 1024). + :param initial_points_number: Number of initial points to use in RANSAC. """ if threshold <= 0: raise ValueError("Threshold must be positive") @@ -156,8 +158,9 @@ def map_leaf_points_cuda_ransac( # this is needed to initialize the random number generators on the GPU ransac = CudaRansac( - hypotheses_number=hypotheses_number, threshold=threshold, + hypotheses_number=hypotheses_number, + initial_points_number=initial_points_number, ) # process each batch