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mrpt::slam::CICP::TConfigParams Class Reference

Detailed Description

The ICP algorithm configuration data.

Definition at line 57 of file CICP.h.

#include <mrpt/slam/CICP.h>

Inheritance diagram for mrpt::slam::CICP::TConfigParams:
Inheritance graph
[legend]

Public Member Functions

 TConfigParams ()
 Initializer for default values: More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions. More...
 
void dumpToTextStream (CStream &out) const
 See utils::CLoadableOptions. More...
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) const
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout) More...
 

Public Attributes

TICPAlgorithm ICP_algorithm
 The algorithm to use (default: icpClassic) See http://www.mrpt.org/Scan_Matching_Algorithms for details. More...
 
bool onlyClosestCorrespondences
 The usual approach: to consider only the closest correspondence for each local point (Default to true) More...
 
bool onlyUniqueRobust
 
float thresholdDist
 
float thresholdAng
 Initial threshold distance for two points to become a correspondence. More...
 
float ALFA
 The scale factor for threshold everytime convergence is achieved. More...
 
float smallestThresholdDist
 The size for threshold such that iterations will stop, since it is considered precise enough. More...
 
float covariance_varPoints
 This is the normalization constant $ \sigma^2_p $ that is used to scale the whole 3x3 covariance. More...
 
bool doRANSAC
 Perform a RANSAC step after the ICP convergence, to obtain a better estimation of the pose PDF. More...
 
unsigned int ransac_minSetSize
 RANSAC-step options: More...
 
unsigned int ransac_maxSetSize
 
unsigned int ransac_nSimulations
 
float ransac_mahalanobisDistanceThreshold
 RANSAC-step options: More...
 
float normalizationStd
 RANSAC-step option: The standard deviation in X,Y of landmarks/points which are being matched (used to compute covariances in the SoG) More...
 
bool ransac_fuseByCorrsMatch
 RANSAC-step options: More...
 
float ransac_fuseMaxDiffXY
 RANSAC-step options: More...
 
float ransac_fuseMaxDiffPhi
 
float kernel_rho
 Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0.07m). More...
 
bool use_kernel
 Whether to use kernel_rho to smooth distances, or use distances directly (default=true) More...
 
float Axy_aprox_derivatives
 The size of the perturbance in x & y used to estimate the Jacobians of the square error (in LM & IKF methods, default=0.05). More...
 
float LM_initial_lambda
 The initial value of the lambda parameter in the LM method (default=1e-4). More...
 
bool skip_cov_calculation
 Skip the computation of the covariance (saves some time) (default=false) More...
 
bool skip_quality_calculation
 Skip the (sometimes) expensive evaluation of the term 'quality' at ICP output (Default=true) More...
 
uint32_t corresponding_points_decimation
 Decimation of the point cloud being registered against the reference one (default=5) - set to 1 to have the older (MRPT <0.9.5) behavior of not approximating ICP by ignoring the correspondence of some points. More...
 
Termination criteria

Apart of "onlyClosestCorrespondences=true", if this option is enabled only the closest correspondence for each reference point will be kept (default=false).

unsigned int maxIterations
 Maximum number of iterations to run. More...
 
float minAbsStep_trans
 If the correction in all translation coordinates (X,Y,Z) is below this threshold (in meters), iterations are terminated (Default:1e-6) More...
 
float minAbsStep_rot
 If the correction in all rotation coordinates (yaw,pitch,roll) is below this threshold (in radians), iterations are terminated (Default:1e-6) More...
 

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

◆ TConfigParams()

mrpt::slam::CICP::TConfigParams::TConfigParams ( )

Initializer for default values:

Member Function Documentation

◆ dumpToConsole()

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

◆ dumpToTextStream()

void mrpt::slam::CICP::TConfigParams::dumpToTextStream ( CStream out) const
virtual

◆ dumpVar_bool()

static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited

◆ dumpVar_double()

static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited

◆ dumpVar_float()

static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited

◆ dumpVar_int()

static void mrpt::utils::CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

◆ dumpVar_string()

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited

◆ loadFromConfigFile()

void mrpt::slam::CICP::TConfigParams::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)
virtual

◆ loadFromConfigFileName()

void mrpt::utils::CLoadableOptions::loadFromConfigFileName ( const std::string &  config_file,
const std::string &  section 
)
inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also
loadFromConfigFile

◆ saveToConfigFile()

virtual void mrpt::utils::CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string &  section 
) const
inlinevirtualinherited

◆ saveToConfigFileName()

void mrpt::utils::CLoadableOptions::saveToConfigFileName ( const std::string &  config_file,
const std::string &  section 
) const
inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also
saveToConfigFile, loadFromConfigFileName

Member Data Documentation

◆ ALFA

float mrpt::slam::CICP::TConfigParams::ALFA

The scale factor for threshold everytime convergence is achieved.

Definition at line 85 of file CICP.h.

◆ Axy_aprox_derivatives

float mrpt::slam::CICP::TConfigParams::Axy_aprox_derivatives

The size of the perturbance in x & y used to estimate the Jacobians of the square error (in LM & IKF methods, default=0.05).

Definition at line 128 of file CICP.h.

◆ corresponding_points_decimation

uint32_t mrpt::slam::CICP::TConfigParams::corresponding_points_decimation

Decimation of the point cloud being registered against the reference one (default=5) - set to 1 to have the older (MRPT <0.9.5) behavior of not approximating ICP by ignoring the correspondence of some points.

The speed-up comes from a decimation of the number of KD-tree queries, the most expensive step in ICP.

Definition at line 143 of file CICP.h.

◆ covariance_varPoints

float mrpt::slam::CICP::TConfigParams::covariance_varPoints

This is the normalization constant $ \sigma^2_p $ that is used to scale the whole 3x3 covariance.

This has a default value of $ (0.02)^2 $, that is, a 2cm sigma. See the paper: ....

Definition at line 92 of file CICP.h.

◆ doRANSAC

bool mrpt::slam::CICP::TConfigParams::doRANSAC

Perform a RANSAC step after the ICP convergence, to obtain a better estimation of the pose PDF.

Definition at line 94 of file CICP.h.

◆ ICP_algorithm

TICPAlgorithm mrpt::slam::CICP::TConfigParams::ICP_algorithm

The algorithm to use (default: icpClassic) See http://www.mrpt.org/Scan_Matching_Algorithms for details.

Definition at line 72 of file CICP.h.

◆ kernel_rho

float mrpt::slam::CICP::TConfigParams::kernel_rho

Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0.07m).

Definition at line 122 of file CICP.h.

◆ LM_initial_lambda

float mrpt::slam::CICP::TConfigParams::LM_initial_lambda

The initial value of the lambda parameter in the LM method (default=1e-4).

Definition at line 131 of file CICP.h.

◆ maxIterations

unsigned int mrpt::slam::CICP::TConfigParams::maxIterations

Maximum number of iterations to run.

Definition at line 79 of file CICP.h.

◆ minAbsStep_rot

float mrpt::slam::CICP::TConfigParams::minAbsStep_rot

If the correction in all rotation coordinates (yaw,pitch,roll) is below this threshold (in radians), iterations are terminated (Default:1e-6)

Definition at line 81 of file CICP.h.

◆ minAbsStep_trans

float mrpt::slam::CICP::TConfigParams::minAbsStep_trans

If the correction in all translation coordinates (X,Y,Z) is below this threshold (in meters), iterations are terminated (Default:1e-6)

Definition at line 80 of file CICP.h.

◆ normalizationStd

float mrpt::slam::CICP::TConfigParams::normalizationStd

RANSAC-step option: The standard deviation in X,Y of landmarks/points which are being matched (used to compute covariances in the SoG)

See also
CICP::robustRigidTransformation

Definition at line 109 of file CICP.h.

◆ onlyClosestCorrespondences

bool mrpt::slam::CICP::TConfigParams::onlyClosestCorrespondences

The usual approach: to consider only the closest correspondence for each local point (Default to true)

Definition at line 74 of file CICP.h.

◆ onlyUniqueRobust

bool mrpt::slam::CICP::TConfigParams::onlyUniqueRobust

Definition at line 75 of file CICP.h.

◆ ransac_fuseByCorrsMatch

bool mrpt::slam::CICP::TConfigParams::ransac_fuseByCorrsMatch

RANSAC-step options:

See also
CICP::robustRigidTransformation

Definition at line 114 of file CICP.h.

◆ ransac_fuseMaxDiffPhi

float mrpt::slam::CICP::TConfigParams::ransac_fuseMaxDiffPhi

Definition at line 119 of file CICP.h.

◆ ransac_fuseMaxDiffXY

float mrpt::slam::CICP::TConfigParams::ransac_fuseMaxDiffXY

RANSAC-step options:

See also
CICP::robustRigidTransformation

Definition at line 119 of file CICP.h.

◆ ransac_mahalanobisDistanceThreshold

float mrpt::slam::CICP::TConfigParams::ransac_mahalanobisDistanceThreshold

RANSAC-step options:

See also
CICP::robustRigidTransformation

Definition at line 104 of file CICP.h.

◆ ransac_maxSetSize

unsigned int mrpt::slam::CICP::TConfigParams::ransac_maxSetSize

Definition at line 99 of file CICP.h.

◆ ransac_minSetSize

unsigned int mrpt::slam::CICP::TConfigParams::ransac_minSetSize

RANSAC-step options:

See also
CICP::robustRigidTransformation

Definition at line 99 of file CICP.h.

◆ ransac_nSimulations

unsigned int mrpt::slam::CICP::TConfigParams::ransac_nSimulations

Definition at line 99 of file CICP.h.

◆ skip_cov_calculation

bool mrpt::slam::CICP::TConfigParams::skip_cov_calculation

Skip the computation of the covariance (saves some time) (default=false)

Definition at line 134 of file CICP.h.

◆ skip_quality_calculation

bool mrpt::slam::CICP::TConfigParams::skip_quality_calculation

Skip the (sometimes) expensive evaluation of the term 'quality' at ICP output (Default=true)

Definition at line 137 of file CICP.h.

◆ smallestThresholdDist

float mrpt::slam::CICP::TConfigParams::smallestThresholdDist

The size for threshold such that iterations will stop, since it is considered precise enough.

Definition at line 86 of file CICP.h.

◆ thresholdAng

float mrpt::slam::CICP::TConfigParams::thresholdAng

Initial threshold distance for two points to become a correspondence.

Definition at line 84 of file CICP.h.

◆ thresholdDist

float mrpt::slam::CICP::TConfigParams::thresholdDist

Definition at line 84 of file CICP.h.

◆ use_kernel

bool mrpt::slam::CICP::TConfigParams::use_kernel

Whether to use kernel_rho to smooth distances, or use distances directly (default=true)

Definition at line 125 of file CICP.h.




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