MRPT  1.9.9
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mrpt::slam::CGridMapAligner::TReturnInfo Struct Reference

Detailed Description

The ICP algorithm return information.

Definition at line 151 of file CGridMapAligner.h.

#include <mrpt/slam/CGridMapAligner.h>

Classes

struct  TPairPlusDistance
 

Public Member Functions

 TReturnInfo ()
 

Public Attributes

float goodness {0}
 A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences. More...
 
mrpt::poses::CPose2D noRobustEstimation
 The "brute" estimation from using all the available correspondences, provided just for comparison purposes (it is not the robust estimation, available as the result of the Align method). More...
 
mrpt::containers::deepcopy_poly_ptr< mrpt::poses::CPosePDFSOG::Ptrsog1
 The different SOG densities at different steps of the algorithm: More...
 
mrpt::containers::deepcopy_poly_ptr< mrpt::poses::CPosePDFSOG::Ptrsog2
 
mrpt::containers::deepcopy_poly_ptr< mrpt::poses::CPosePDFSOG::Ptrsog3
 
mrpt::maps::CLandmarksMap::Ptr landmarks_map1
 The landmarks of each map (the indices of these landmarks correspond to those in "correspondences") More...
 
mrpt::maps::CLandmarksMap::Ptr landmarks_map2
 
mrpt::tfest::TMatchingPairList correspondences
 All the found correspondences (not consistent) More...
 
std::vector< TPairPlusDistancecorrespondences_dists_maha
 Mahalanobis distance for each potential correspondence. More...
 
std::vector< double > icp_goodness_all_sog_modes
 The ICP goodness of all potential SOG modes at the stage "sog2", thus before the removing of "bad" ICP matches. More...
 

Constructor & Destructor Documentation

◆ TReturnInfo()

mrpt::slam::CGridMapAligner::TReturnInfo::TReturnInfo ( )
inline

Definition at line 153 of file CGridMapAligner.h.

Member Data Documentation

◆ correspondences

mrpt::tfest::TMatchingPairList mrpt::slam::CGridMapAligner::TReturnInfo::correspondences

All the found correspondences (not consistent)

Definition at line 181 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().

◆ correspondences_dists_maha

std::vector<TPairPlusDistance> mrpt::slam::CGridMapAligner::TReturnInfo::correspondences_dists_maha

Mahalanobis distance for each potential correspondence.

Definition at line 194 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().

◆ goodness

float mrpt::slam::CGridMapAligner::TReturnInfo::goodness {0}

A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences.

Definition at line 157 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), and mrpt::apps::CGridMapAlignerApp::run().

◆ icp_goodness_all_sog_modes

std::vector<double> mrpt::slam::CGridMapAligner::TReturnInfo::icp_goodness_all_sog_modes

The ICP goodness of all potential SOG modes at the stage "sog2", thus before the removing of "bad" ICP matches.

Definition at line 198 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::apps::CGridMapAlignerApp::run().

◆ landmarks_map1

mrpt::maps::CLandmarksMap::Ptr mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map1

The landmarks of each map (the indices of these landmarks correspond to those in "correspondences")

Definition at line 178 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::apps::CGridMapAlignerApp::run().

◆ landmarks_map2

mrpt::maps::CLandmarksMap::Ptr mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map2

◆ noRobustEstimation

mrpt::poses::CPose2D mrpt::slam::CGridMapAligner::TReturnInfo::noRobustEstimation

The "brute" estimation from using all the available correspondences, provided just for comparison purposes (it is not the robust estimation, available as the result of the Align method).

Definition at line 163 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), and mrpt::apps::CGridMapAlignerApp::run().

◆ sog1

mrpt::containers::deepcopy_poly_ptr<mrpt::poses::CPosePDFSOG::Ptr> mrpt::slam::CGridMapAligner::TReturnInfo::sog1

The different SOG densities at different steps of the algorithm:

  • sog1 : Directly from the matching of features
  • sog2 : Merged of sog1
  • sog3 : sog2 refined with ICP
  • The final sog is the merge of sog3.

Definition at line 173 of file CGridMapAligner.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().

◆ sog2

mrpt::containers::deepcopy_poly_ptr<mrpt::poses::CPosePDFSOG::Ptr> mrpt::slam::CGridMapAligner::TReturnInfo::sog2

◆ sog3

mrpt::containers::deepcopy_poly_ptr<mrpt::poses::CPosePDFSOG::Ptr> mrpt::slam::CGridMapAligner::TReturnInfo::sog3



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