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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 22 of file metric_map_types.h.

#include <mrpt/maps/metric_map_types.h>

Public Member Functions

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

Public Attributes

float maxDistForCorrespondence
 Maximum linear distance between two points to be paired (meters) More...
 
float maxAngularDistForCorrespondence
 Allowed "angular error" (in radians): this permits larger pairing threshold distances to more distant points. More...
 
bool onlyKeepTheClosest
 If set to true (default), only the closest correspondence will be returned. If false all are returned. More...
 
bool onlyUniqueRobust
 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
 (Default=1) Only consider 1 out of this number of points from the "other" map. More...
 
size_t offset_other_map_points
 Index of the first point in the "other" map to start checking for correspondences (Default=0) More...
 
mrpt::math::TPoint3D angularDistPivotPoint
 The point used to calculate angular distances: e.g. the coordinates of the sensor for a 2D laser scanner. More...
 

Constructor & Destructor Documentation

mrpt::maps::TMatchingParams::TMatchingParams ( )
inline

Ctor: default values.

Definition at line 33 of file metric_map_types.h.

Member Data Documentation

mrpt::math::TPoint3D mrpt::maps::TMatchingParams::angularDistPivotPoint
size_t mrpt::maps::TMatchingParams::decimation_other_map_points
float mrpt::maps::TMatchingParams::maxAngularDistForCorrespondence
float mrpt::maps::TMatchingParams::maxDistForCorrespondence
size_t mrpt::maps::TMatchingParams::offset_other_map_points
bool mrpt::maps::TMatchingParams::onlyKeepTheClosest
bool mrpt::maps::TMatchingParams::onlyUniqueRobust

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 27 of file metric_map_types.h.

Referenced by mrpt::maps::CPointsMap::determineMatching2D(), mrpt::maps::CPointsMap::determineMatching3D(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().




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