MRPT  1.9.9
metric_map_types.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
13 #include <mrpt/obs/obs_frwds.h>
15 
16 namespace mrpt::maps
17 {
18 /** Parameters for the determination of matchings between point clouds, etc. \sa
19  * CMetricMap::determineMatching2D, CMetricMap::determineMatching3D */
21 {
22  /** Maximum linear distance between two points to be paired (meters) */
24  /** Allowed "angular error" (in radians): this permits larger pairing
25  * threshold distances to more distant points. */
27  /** If set to true (default), only the closest correspondence will be
28  * returned. If false all are returned. */
29  bool onlyKeepTheClosest{true};
30  /** Additional consistency filter: "onlyKeepTheClosest" allows one
31  * correspondence for each "local map" point, but many of them may have as
32  * corresponding pair the same "global point", which this flag avoids. */
33  bool onlyUniqueRobust{false};
34  /** (Default=1) Only consider 1 out of this number of points from the
35  * "other" map. */
37  /** Index of the first point in the "other" map to start checking for
38  * correspondences (Default=0) */
40  /** The point used to calculate angular distances: e.g. the coordinates of
41  * the sensor for a 2D laser scanner. */
43 
44  /** Ctor: default values */
45  TMatchingParams() = default;
46 };
47 
48 /** Additional results from the determination of matchings between point clouds,
49  * etc., apart from the pairings themselves \sa CMetricMap::determineMatching2D,
50  * CMetricMap::determineMatching3D */
52 {
53  /** The ratio [0,1] of points in otherMap with at least one correspondence.
54  */
56  /** The sum of all matched points squared distances.If undesired, set to
57  * nullptr, as default. */
58  float sumSqrDist{0};
59 
60  TMatchingExtraResults() = default;
61 };
62 
63 /** Parameters for CMetricMap::compute3DMatchingRatio() */
65 {
66  /** (Default: 0.10f) The minimum distance between 2 non-probabilistic map
67  * elements for counting them as a correspondence. */
68  float maxDistForCorr{0.10f};
69  /** (Default: 2.0f) The minimum Mahalanobis distance between 2 probabilistic
70  * map elements for counting them as a correspondence. */
71  float maxMahaDistForCorr{2.0f};
72 
73  TMatchingRatioParams() = default;
74 };
75 
76 /** Common params to all maps derived from mrpt::maps::CMetricMap */
79 {
81  public:
82  /** (Default=true) If false, calling CMetricMap::getAs3DObject() will have
83  * no effects */
85  /** (Default=true) Enable computing observation likelihoods with this map */
87  /** (Default=true) Enable inserting observations in this map */
89 
90  void loadFromConfigFile(
92  const std::string& sectionNamePrefix) override; // See base docs
93  void saveToConfigFile(
95  const std::string& section) const override;
96 };
97 
98 } // namespace mrpt::maps
mrpt::math::TPoint3D angularDistPivotPoint
The point used to calculate angular distances: e.g.
float maxAngularDistForCorrespondence
Allowed "angular error" (in radians): this permits larger pairing threshold distances to more distant...
Parameters for CMetricMap::compute3DMatchingRatio()
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
bool enableObservationInsertion
(Default=true) Enable inserting observations in this map
bool enableSaveAs3DObject
(Default=true) If false, calling CMetricMap::getAs3DObject() will have no effects ...
size_t decimation_other_map_points
(Default=1) Only consider 1 out of this number of points from the "other" map.
float sumSqrDist
The sum of all matched points squared distances.If undesired, set to nullptr, as default.
bool enableObservationLikelihood
(Default=true) Enable computing observation likelihoods with this map
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &sectionNamePrefix) override
This method load the options from a ".ini"-like file or memory-stored string list.
void saveToConfigFile(mrpt::config::CConfigFileBase &target, const std::string &section) const override
This method saves the options to a ".ini"-like file or memory-stored string list. ...
float maxDistForCorr
(Default: 0.10f) The minimum distance between 2 non-probabilistic map elements for counting them as a...
This class allows loading and storing values and vectors of different types from a configuration text...
Additional results from the determination of matchings between point clouds, etc., apart from the pairings themselves.
bool onlyUniqueRobust
Additional consistency filter: "onlyKeepTheClosest" allows one correspondence for each "local map" po...
float maxDistForCorrespondence
Maximum linear distance between two points to be paired (meters)
GLsizei const GLchar ** string
Definition: glext.h:4116
bool onlyKeepTheClosest
If set to true (default), only the closest correspondence will be returned.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
size_t offset_other_map_points
Index of the first point in the "other" map to start checking for correspondences (Default=0) ...
float correspondencesRatio
The ratio [0,1] of points in otherMap with at least one correspondence.
Common params to all maps derived from mrpt::maps::CMetricMap.
GLsizei GLsizei GLchar * source
Definition: glext.h:4097
float maxMahaDistForCorr
(Default: 2.0f) The minimum Mahalanobis distance between 2 probabilistic map elements for counting th...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:30
Lightweight 3D point.
Parameters for the determination of matchings between point clouds, etc.
TMatchingParams()=default
Ctor: default values.



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