# struct mrpt::tfest::TSE3RobustParams¶

Parameters for se3_l2_robust().

See function for more details

#include <mrpt/tfest/se3.h>

struct TSE3RobustParams
{
//
fields

unsigned int ransac_minSetSize {5};
unsigned int ransac_nmaxSimulations {50};
double ransac_maxSetSizePct {0.5};
double ransac_threshold_lin {0.05};
double ransac_threshold_scale {0.03};
bool forceScaleToUnity {true};
bool verbose {false};
TFunctorCheckPotentialMatch user_individual_compat_callback;
};

## Fields¶

unsigned int ransac_minSetSize {5}

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

ransac_maxSetSizePct

unsigned int ransac_nmaxSimulations {50}

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

double ransac_maxSetSizePct {0.5}

(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”.

double ransac_threshold_lin {0.05}

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

double ransac_threshold_ang {mrpt::DEG2RAD(1.)}

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

double ransac_threshold_scale {0.03}

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

bool forceScaleToUnity {true}

(Default=true)

bool verbose {false}

(Default=false)

TFunctorCheckPotentialMatch 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.