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mrpt::slam::CICP::CICP::TConfigParams Class Reference

The ICP algorithm configuration data. More...

#include <mrpt/slam/CICP.h>

Inheritance diagram for mrpt::slam::CICP::CICP::TConfigParams:

mrpt::utils::CLoadableOptions

List of all members.

Public Member Functions

 TConfigParams ()
 Initializer for default values:.
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions.
void dumpToTextStream (utils::CStream &out)
 See utils::CLoadableOptions.

Public Attributes

TICPAlgorithm ICP_algorithm
 The algorithm to use (default: icpClassic) See http://babel.isa.uma.es/mrpt/index.php/Scan_Matching_Algorithms for details.
bool onlyClosestCorrespondences
 The usual approach: to consider only the closest correspondence for each local point (Default to true).
bool onlyUniqueRobust
 Apart of "onlyClosestCorrespondences=true", if this option is enabled only the closest correspondence for each reference point will be kept (default=false).
unsigned int maxIterations
 Maximum number of iterations to run.
float thresholdDist
 Initial threshold distance for two points to become a correspondence.
float thresholdAng
float ALFA
 The scale factor for threshold everytime convergence is achieved.
float smallestThresholdDist
 The size for threshold such that iterations will stop, since it is considered precise enough.
float covariance_varPoints
 This is the normalization constant $ \sigma^2_p $ that is used to scale the whole 3x3 covariance.
bool doRANSAC
 Perform a RANSAC step after the ICP convergence, to obtain a better estimation of the pose PDF.
unsigned int ransac_minSetSize
 RANSAC-step options:.
unsigned int ransac_maxSetSize
unsigned int ransac_nSimulations
float ransac_mahalanobisDistanceThreshold
 RANSAC-step options:.
float normalizationStd
 RANSAC-step option: The standard deviation in X,Y of landmarks/points which are being matched (used to compute covariances in the SoG).
bool ransac_fuseByCorrsMatch
 RANSAC-step options:.
float ransac_fuseMaxDiffXY
 RANSAC-step options:.
float ransac_fuseMaxDiffPhi
float kernel_rho
 Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0.07m).
bool use_kernel
 Whether to use kernel_rho to smooth distances, or use distances directly (default=true).
float 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).
float LM_initial_lambda
 The initial value of the lambda parameter in the LM method (default=1e-4).


Detailed Description

The ICP algorithm configuration data.

Definition at line 78 of file CICP.h.


Constructor & Destructor Documentation

mrpt::slam::CICP::CICP::TConfigParams::TConfigParams (  ) 

Initializer for default values:.


Member Function Documentation

void mrpt::slam::CICP::CICP::TConfigParams::dumpToTextStream ( utils::CStream out  )  [virtual]

void mrpt::slam::CICP::CICP::TConfigParams::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [virtual]


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 $ \sigma^2_p $ that is used to scale the whole 3x3 covariance.

This has a default value of $ (0.02)^2 $, 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

The algorithm to use (default: icpClassic) See http://babel.isa.uma.es/mrpt/index.php/Scan_Matching_Algorithms for details.

Definition at line 99 of file CICP.h.

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

Definition at line 158 of file CICP.h.

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

Definition at line 138 of file CICP.h.

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

Definition at line 138 of file CICP.h.

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

Definition at line 115 of file CICP.h.

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.




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