mrpt::maps::TMatchingParams Struct Reference

Detailed Description

Parameters for the determination of matchings between point clouds, etc.

See also

CMetricMap::determineMatching2D, CMetricMap::determineMatching3D

Definition at line 22 of file metric_map_types.h.

#include <mrpt/maps/metric_map_types.h>

Public Member Functions
	TMatchingParams ()
	Ctor: default values. More...

Public Attributes
float	maxDistForCorrespondence
	Maximum linear distance between two points to be paired (meters) More...
float	maxAngularDistForCorrespondence
	Allowed "angular error" (in radians): this permits larger pairing threshold distances to more distant points. More...
bool	onlyKeepTheClosest
	If set to true (default), only the closest correspondence will be returned. More...
bool	onlyUniqueRobust
	Additional consistency filter: "onlyKeepTheClosest" allows one correspondence for each "local map" point, but many of them may have as corresponding pair the same "global point", which this flag avoids. More...
size_t	decimation_other_map_points
	(Default=1) Only consider 1 out of this number of points from the "other" map. More...
size_t	offset_other_map_points
	Index of the first point in the "other" map to start checking for correspondences (Default=0) More...
mrpt::math::TPoint3D	angularDistPivotPoint
	The point used to calculate angular distances: e.g. More...

Constructor & Destructor Documentation

TMatchingParams()

mrpt::maps::TMatchingParams::TMatchingParams ( )

inline

Ctor: default values.

Definition at line 47 of file metric_map_types.h.

Member Data Documentation

angularDistPivotPoint

mrpt::math::TPoint3D mrpt::maps::TMatchingParams::angularDistPivotPoint

The point used to calculate angular distances: e.g.

the coordinates of the sensor for a 2D laser scanner.

Definition at line 44 of file metric_map_types.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().

decimation_other_map_points

size_t mrpt::maps::TMatchingParams::decimation_other_map_points

(Default=1) Only consider 1 out of this number of points from the "other" map.

Definition at line 38 of file metric_map_types.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().

maxAngularDistForCorrespondence

float mrpt::maps::TMatchingParams::maxAngularDistForCorrespondence

Allowed "angular error" (in radians): this permits larger pairing threshold distances to more distant points.

Definition at line 28 of file metric_map_types.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), and mrpt::slam::observationsOverlap().

maxDistForCorrespondence

float mrpt::maps::TMatchingParams::maxDistForCorrespondence

Maximum linear distance between two points to be paired (meters)

Definition at line 25 of file metric_map_types.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), and mrpt::slam::observationsOverlap().

offset_other_map_points

size_t mrpt::maps::TMatchingParams::offset_other_map_points

Index of the first point in the "other" map to start checking for correspondences (Default=0)

Definition at line 41 of file metric_map_types.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().

onlyKeepTheClosest

bool mrpt::maps::TMatchingParams::onlyKeepTheClosest

If set to true (default), only the closest correspondence will be returned.

If false all are returned.

Definition at line 31 of file metric_map_types.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().

onlyUniqueRobust

bool mrpt::maps::TMatchingParams::onlyUniqueRobust

Additional consistency filter: "onlyKeepTheClosest" allows one correspondence for each "local map" point, but many of them may have as corresponding pair the same "global point", which this flag avoids.

Definition at line 35 of file metric_map_types.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().