mrpt::slam::CICP::CICP::TConfigParams Class Reference
The ICP algorithm configuration data.
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#include <mrpt/slam/CICP.h>
List of all members.
Detailed Description
The ICP algorithm configuration data.
Definition at line 78 of file CICP.h.
Constructor & Destructor Documentation
mrpt::slam::CICP::CICP::TConfigParams::TConfigParams |
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Initializer for default values:.
Member Function Documentation
void mrpt::slam::CICP::CICP::TConfigParams::dumpToTextStream |
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utils::CStream & |
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void mrpt::slam::CICP::CICP::TConfigParams::loadFromConfigFile |
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const mrpt::utils::CConfigFileBase & |
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Member Data Documentation
float mrpt::slam::CICP::CICP::TConfigParams::ALFA |
The scale factor for threshold everytime convergence is achieved.
Definition at line 119 of file CICP.h.
float mrpt::slam::CICP::CICP::TConfigParams::Axy_aprox_derivatives |
The size of the perturbance in x & y used to estimate the Jacobians of the square error (in LM & IKF methods, default=0.05).
Definition at line 170 of file CICP.h.
float mrpt::slam::CICP::CICP::TConfigParams::covariance_varPoints |
This is the normalization constant
that is used to scale the whole 3x3 covariance.
This has a default value of
, that is, a 2cm sigma. See the paper: ....
Definition at line 129 of file CICP.h.
bool mrpt::slam::CICP::CICP::TConfigParams::doRANSAC |
Perform a RANSAC step after the ICP convergence, to obtain a better estimation of the pose PDF.
Definition at line 133 of file CICP.h.
TICPAlgorithm mrpt::slam::CICP::CICP::TConfigParams::ICP_algorithm |
float mrpt::slam::CICP::CICP::TConfigParams::kernel_rho |
Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0.07m).
Definition at line 162 of file CICP.h.
float mrpt::slam::CICP::CICP::TConfigParams::LM_initial_lambda |
The initial value of the lambda parameter in the LM method (default=1e-4).
Definition at line 174 of file CICP.h.
unsigned int mrpt::slam::CICP::CICP::TConfigParams::maxIterations |
Maximum number of iterations to run.
Definition at line 111 of file CICP.h.
float mrpt::slam::CICP::CICP::TConfigParams::normalizationStd |
RANSAC-step option: The standard deviation in X,Y of landmarks/points which are being matched (used to compute covariances in the SoG).
- See also:
- CICP::robustRigidTransformation
Definition at line 148 of file CICP.h.
bool mrpt::slam::CICP::CICP::TConfigParams::onlyClosestCorrespondences |
The usual approach: to consider only the closest correspondence for each local point (Default to true).
Definition at line 103 of file CICP.h.
bool mrpt::slam::CICP::CICP::TConfigParams::onlyUniqueRobust |
Apart of "onlyClosestCorrespondences=true", if this option is enabled only the closest correspondence for each reference point will be kept (default=false).
Definition at line 107 of file CICP.h.
bool mrpt::slam::CICP::CICP::TConfigParams::ransac_fuseByCorrsMatch |
RANSAC-step options:.
- See also:
- CICP::robustRigidTransformation
Definition at line 153 of file CICP.h.
float mrpt::slam::CICP::CICP::TConfigParams::ransac_fuseMaxDiffPhi |
float mrpt::slam::CICP::CICP::TConfigParams::ransac_fuseMaxDiffXY |
RANSAC-step options:.
- See also:
- CICP::robustRigidTransformation
Definition at line 158 of file CICP.h.
float mrpt::slam::CICP::CICP::TConfigParams::ransac_mahalanobisDistanceThreshold |
RANSAC-step options:.
- See also:
- CICP::robustRigidTransformation
Definition at line 143 of file CICP.h.
unsigned int mrpt::slam::CICP::CICP::TConfigParams::ransac_maxSetSize |
unsigned int mrpt::slam::CICP::CICP::TConfigParams::ransac_minSetSize |
RANSAC-step options:.
- See also:
- CICP::robustRigidTransformation
Definition at line 138 of file CICP.h.
unsigned int mrpt::slam::CICP::CICP::TConfigParams::ransac_nSimulations |
float mrpt::slam::CICP::CICP::TConfigParams::smallestThresholdDist |
The size for threshold such that iterations will stop, since it is considered precise enough.
Definition at line 123 of file CICP.h.
float mrpt::slam::CICP::CICP::TConfigParams::thresholdAng |
float mrpt::slam::CICP::CICP::TConfigParams::thresholdDist |
Initial threshold distance for two points to become a correspondence.
Definition at line 115 of file CICP.h.
bool mrpt::slam::CICP::CICP::TConfigParams::use_kernel |
Whether to use kernel_rho to smooth distances, or use distances directly (default=true).
Definition at line 166 of file CICP.h.