Detailed Description

See function for more details

Definition at line 66 of file se3.h.

#include <mrpt/tfest/se3.h>

Public Member Functions
	TSE3RobustParams ()

Public Attributes
unsigned int	ransac_minSetSize
	(Default=5) The minimum amount of points in a set to start a consensus set. More...

unsigned int	ransac_nmaxSimulations
	(Default=50) The maximum number of iterations of the RANSAC algorithm More...

double	ransac_maxSetSizePct
	(Default=0.5) The minimum ratio (0.0 - 1.0) of the input set that is considered to be inliers. More...

double	ransac_threshold_lin
	(Default=0.05) The maximum distance in X,Y,Z for a solution to be considered as matching a candidate solution (In meters) More...

double	ransac_threshold_ang
	(Default=1 deg) The maximum angle (yaw,pitch,roll) for a solution to be considered as matching a candidate solution (In radians) More...

double	ransac_threshold_scale
	(Default=0.03) The maximum difference in scale for a solution to be considered as matching a candidate solution (dimensionless) More...

bool	forceScaleToUnity
	(Default=true) 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...

Constructor & Destructor Documentation

◆ TSE3RobustParams()

mrpt::tfest::TSE3RobustParams::TSE3RobustParams ( )

inline

Definition at line 102 of file se3.h.

Member Data Documentation

◆ forceScaleToUnity

bool mrpt::tfest::TSE3RobustParams::forceScaleToUnity

(Default=true)

Definition at line 88 of file se3.h.

◆ ransac_maxSetSizePct

double mrpt::tfest::TSE3RobustParams::ransac_maxSetSizePct

(Default=0.5) The minimum ratio (0.0 - 1.0) of the input set that is considered to be inliers.

Important: The minimum size of a consensus set to be accepted will be "INPUT_CORRESPONDENCES*ransac_maxSetSizePct".

Definition at line 77 of file se3.h.

◆ ransac_minSetSize

unsigned int mrpt::tfest::TSE3RobustParams::ransac_minSetSize

(Default=5) The minimum amount of points in a set to start a consensus set.

See also: ransac_maxSetSizePct

Definition at line 70 of file se3.h.

◆ ransac_nmaxSimulations

unsigned int mrpt::tfest::TSE3RobustParams::ransac_nmaxSimulations

(Default=50) The maximum number of iterations of the RANSAC algorithm

Definition at line 72 of file se3.h.

◆ ransac_threshold_ang

double mrpt::tfest::TSE3RobustParams::ransac_threshold_ang

(Default=1 deg) The maximum angle (yaw,pitch,roll) for a solution to be considered as matching a candidate solution (In radians)

Definition at line 83 of file se3.h.

◆ ransac_threshold_lin

double mrpt::tfest::TSE3RobustParams::ransac_threshold_lin

(Default=0.05) The maximum distance in X,Y,Z for a solution to be considered as matching a candidate solution (In meters)

Definition at line 80 of file se3.h.

◆ ransac_threshold_scale

double mrpt::tfest::TSE3RobustParams::ransac_threshold_scale

(Default=0.03) The maximum difference in scale for a solution to be considered as matching a candidate solution (dimensionless)

Definition at line 86 of file se3.h.

◆ user_individual_compat_callback

TFunctorCheckPotentialMatch mrpt::tfest::TSE3RobustParams::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.

Returns: Must return true if the pair is a potential match, false otherwise.

Definition at line 100 of file se3.h.

◆ verbose

bool mrpt::tfest::TSE3RobustParams::verbose

(Default=false)

Definition at line 90 of file se3.h.