#include <mrpt/slam/CICP.h>
Public Member Functions | |
TConfigParams () | |
Initializer for default values:. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. | |
void | dumpToTextStream (CStream &out) const |
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 ![]() | |
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). |
Definition at line 78 of file CICP.h.
mrpt::slam::CICP::TConfigParams::TConfigParams | ( | ) |
Initializer for default values:.
void mrpt::slam::CICP::TConfigParams::dumpToTextStream | ( | CStream & | out | ) | const [virtual] |
void mrpt::slam::CICP::TConfigParams::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
The algorithm to use (default: icpClassic) See http://babel.isa.uma.es/mrpt/index.php/Scan_Matching_Algorithms for details.
unsigned int mrpt::slam::CICP::TConfigParams::maxIterations |
unsigned int mrpt::slam::CICP::TConfigParams::ransac_maxSetSize |
unsigned int mrpt::slam::CICP::TConfigParams::ransac_minSetSize |
unsigned int mrpt::slam::CICP::TConfigParams::ransac_nSimulations |
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