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New options to constrain the scaling with ICP registration #134

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Merged
dgirardeau merged 1 commit into from
Aug 21, 2026
Merged

New options to constrain the scaling with ICP registration #134

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8 changes: 8 additions & 0 deletions include/RegistrationTools.h
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Original file line number Diff line number Diff line change
Expand Up @@ -161,6 +161,8 @@ namespace CCCoreLib
, minRMSDecrease(1.0e-5)
, nbMaxIterations(20)
, adjustScale(false)
, minScale(std::numeric_limits<double>::quiet_NaN())
, maxScale(std::numeric_limits<double>::quiet_NaN())
, filterOutFarthestPoints(false)
, samplingLimit(50000)
, finalOverlapRatio(1.0)
Expand All @@ -185,6 +187,12 @@ namespace CCCoreLib
//! Whether to release the scale parameter during the registration procedure or not
bool adjustScale;

//! Min scale (if adjustScale is true - NaN if no minimum boundary)
double minScale;

//! Max scale (if adjustScale is true - NaN if no maximum boundary)
double maxScale;

//! If true, the algorithm will automatically ignore farthest points from the reference, for better convergence
bool filterOutFarthestPoints;

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14 changes: 12 additions & 2 deletions src/RegistrationTools.cpp
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Expand Up @@ -811,8 +811,18 @@ ICPRegistrationTools::RESULT_TYPE ICPRegistrationTools::Register( GenericIndexed

if (params.adjustScale)
{
transform.s *= currentTrans.s;
transform.T *= currentTrans.s;
double newScale = transform.s * currentTrans.s;
if (std::isfinite(params.minScale))
{
newScale = std::max(newScale, params.minScale);
}
if (std::isfinite(params.maxScale))
{
newScale = std::min(newScale, params.maxScale);
}

transform.T *= (newScale / transform.s);
transform.s = newScale;
}

transform.T += currentTrans.T;
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