MRPT  1.9.9
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 20 of file metric_map_types.h.

#include <mrpt/maps/metric_map_types.h>

Public Member Functions

 TMatchingParams ()=default
 Ctor: default values. More...
 

Public Attributes

float maxDistForCorrespondence {0.50f}
 Maximum linear distance between two points to be paired (meters) More...
 
float maxAngularDistForCorrespondence {.0f}
 Allowed "angular error" (in radians): this permits larger pairing threshold distances to more distant points. More...
 
bool onlyKeepTheClosest {true}
 If set to true (default), only the closest correspondence will be returned. More...
 
bool onlyUniqueRobust {false}
 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 {1}
 (Default=1) Only consider 1 out of this number of points from the "other" map. More...
 
size_t offset_other_map_points {0}
 Index of the first point in the "other" map to start checking for correspondences (Default=0) More...
 
mrpt::math::TPoint3D angularDistPivotPoint {0, 0, 0}
 The point used to calculate angular distances: e.g. More...
 

Constructor & Destructor Documentation

◆ TMatchingParams()

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

Ctor: default values.

Member Data Documentation

◆ angularDistPivotPoint

mrpt::math::TPoint3D mrpt::maps::TMatchingParams::angularDistPivotPoint {0, 0, 0}

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

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

Definition at line 42 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 {1}

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

Definition at line 36 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 {.0f}

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

Definition at line 26 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 {0.50f}

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

Definition at line 23 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 {0}

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

Definition at line 39 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 {true}

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

If false all are returned.

Definition at line 29 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 {false}

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 33 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().




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