#include <mrpt/tfest/se2.h>
Public Member Functions | |
TSE2RobustParams () | |
Default values. More... | |
Public Attributes | |
unsigned int | ransac_minSetSize |
(Default=3) More... | |
unsigned int | ransac_maxSetSize |
(Default = 20) More... | |
double | ransac_mahalanobisDistanceThreshold |
(Default = 3.0) More... | |
unsigned int | ransac_nSimulations |
(Default = 0) If set to 0, an adaptive algorithm is used to determine the number of iterations, such as a good model is found with a probability p=0.999, or that passed as the parameter probability_find_good_model More... | |
bool | ransac_fuseByCorrsMatch |
(Default = true) If true, the weight of Gaussian modes will be increased when an exact match in the subset of correspondences for the modes is found. More... | |
double | ransac_fuseMaxDiffXY |
(Default = 0.01) More... | |
double | ransac_fuseMaxDiffPhi |
(Default=0.1degree) (In radians) More... | |
bool | ransac_algorithmForLandmarks |
(Default = true) Use Mahalanobis distance (true) or Euclidean dist (false) More... | |
double | probability_find_good_model |
(Default = 0.999) See parameter ransac_nSimulations. More... | |
unsigned int | ransac_min_nSimulations |
(Default = 1500) See parameter probability_find_good_model More... | |
double | max_rmse_to_end |
Stop searching for solutions when the RMSE of one solution is below this threshold. More... | |
bool | verbose |
(Default=false) More... | |
TFunctorCheckPotentialMatch | user_individual_compat_callback |
If provided, this user callback will be invoked to determine the individual compatibility between each potential pair of elements. More... | |
void * | user_individual_compat_callback_userdata |
User data to be passed to user_individual_compat_callback() More... | |
|
inline |
double mrpt::tfest::TSE2RobustParams::max_rmse_to_end |
double mrpt::tfest::TSE2RobustParams::probability_find_good_model |
(Default = 0.999) See parameter ransac_nSimulations.
When using probability_find_good_model
, the minimum number of iterations can be set with ransac_min_nSimulations
Definition at line 104 of file se2.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
bool mrpt::tfest::TSE2RobustParams::ransac_algorithmForLandmarks |
(Default = true) Use Mahalanobis distance (true) or Euclidean dist (false)
Definition at line 100 of file se2.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
bool mrpt::tfest::TSE2RobustParams::ransac_fuseByCorrsMatch |
(Default = true) If true, the weight of Gaussian modes will be increased when an exact match in the subset of correspondences for the modes is found.
Otherwise, an approximate method is used as test by just looking at the resulting X,Y,PHI means. Threshold in this case are: ransac_fuseMaxDiffXY, ransac_fuseMaxDiffPhi
Definition at line 93 of file se2.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
double mrpt::tfest::TSE2RobustParams::ransac_fuseMaxDiffPhi |
(Default=0.1degree) (In radians)
Definition at line 97 of file se2.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
double mrpt::tfest::TSE2RobustParams::ransac_fuseMaxDiffXY |
(Default = 0.01)
Definition at line 95 of file se2.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
double mrpt::tfest::TSE2RobustParams::ransac_mahalanobisDistanceThreshold |
(Default = 3.0)
Definition at line 81 of file se2.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
unsigned int mrpt::tfest::TSE2RobustParams::ransac_maxSetSize |
(Default = 20)
Definition at line 79 of file se2.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
unsigned int mrpt::tfest::TSE2RobustParams::ransac_min_nSimulations |
unsigned int mrpt::tfest::TSE2RobustParams::ransac_minSetSize |
(Default=3)
Definition at line 77 of file se2.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
unsigned int mrpt::tfest::TSE2RobustParams::ransac_nSimulations |
(Default = 0) If set to 0, an adaptive algorithm is used to determine the number of iterations, such as a good model is found with a probability p=0.999, or that passed as the parameter probability_find_good_model
Definition at line 86 of file se2.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
TFunctorCheckPotentialMatch mrpt::tfest::TSE2RobustParams::user_individual_compat_callback |
If provided, this user callback will be invoked to determine the individual compatibility between each potential pair of elements.
Can check image descriptors, geometrical properties, etc.
void* mrpt::tfest::TSE2RobustParams::user_individual_compat_callback_userdata |
User data to be passed to user_individual_compat_callback()
bool mrpt::tfest::TSE2RobustParams::verbose |
(Default=false)
Definition at line 112 of file se2.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: ae4571287 Thu Nov 23 00:06:53 2017 +0100 at dom oct 27 23:51:55 CET 2019 |