MRPT  1.9.9
mrpt::tfest::TSE2RobustParams Struct Reference

Detailed Description

Parameters for se2_l2_robust().

See function for more details

Definition at line 73 of file se2.h.

#include <mrpt/tfest/se2.h>

Public Member Functions

 TSE2RobustParams ()=default
 Default values. More...
 

Public Attributes

unsigned int ransac_minSetSize {3}
 (Default=3) More...
 
unsigned int ransac_maxSetSize {20}
 (Default = 20) More...
 
double ransac_mahalanobisDistanceThreshold {3.0}
 (Default = 3.0) More...
 
unsigned int ransac_nSimulations {0}
 (Default = 0) If set to 0, an adaptive algorithm is used to determine the number of iterations, such as a good model is found with a probability p=0.999, or that passed as the parameter probability_find_good_model More...
 
bool ransac_fuseByCorrsMatch {true}
 (Default = true) If true, the weight of Gaussian modes will be increased when an exact match in the subset of correspondences for the modes is found. More...
 
double ransac_fuseMaxDiffXY {0.01}
 (Default = 0.01) More...
 
double ransac_fuseMaxDiffPhi {mrpt::DEG2RAD(0.1)}
 (Default=0.1degree) (In radians) More...
 
bool ransac_algorithmForLandmarks {true}
 (Default = true) Use Mahalanobis distance (true) or Euclidean dist (false) More...
 
double probability_find_good_model {0.999}
 (Default = 0.999) See parameter ransac_nSimulations. More...
 
unsigned int ransac_min_nSimulations {1500}
 (Default = 1500) See parameter probability_find_good_model More...
 
double max_rmse_to_end {0}
 Stop searching for solutions when the RMSE of one solution is below this threshold. More...
 
bool verbose {false}
 (Default=false) More...
 
TFunctorCheckPotentialMatch user_individual_compat_callback
 If provided, this user callback will be invoked to determine the individual compatibility between each potential pair of elements. More...
 
voiduser_individual_compat_callback_userdata
 User data to be passed to user_individual_compat_callback() More...
 

Constructor & Destructor Documentation

◆ TSE2RobustParams()

mrpt::tfest::TSE2RobustParams::TSE2RobustParams ( )
default

Default values.

Member Data Documentation

◆ max_rmse_to_end

double mrpt::tfest::TSE2RobustParams::max_rmse_to_end {0}

Stop searching for solutions when the RMSE of one solution is below this threshold.

Special value "0" means "auto", which employs "2*normalizationStd".

Definition at line 109 of file se2.h.

◆ probability_find_good_model

double mrpt::tfest::TSE2RobustParams::probability_find_good_model {0.999}

(Default = 0.999) See parameter ransac_nSimulations.

When using probability_find_good_model, the minimum number of iterations can be set with ransac_min_nSimulations

Definition at line 103 of file se2.h.

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

◆ ransac_algorithmForLandmarks

bool mrpt::tfest::TSE2RobustParams::ransac_algorithmForLandmarks {true}

(Default = true) Use Mahalanobis distance (true) or Euclidean dist (false)

Definition at line 99 of file se2.h.

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

◆ ransac_fuseByCorrsMatch

bool mrpt::tfest::TSE2RobustParams::ransac_fuseByCorrsMatch {true}

(Default = true) If true, the weight of Gaussian modes will be increased when an exact match in the subset of correspondences for the modes is found.

Otherwise, an approximate method is used as test by just looking at the resulting X,Y,PHI means. Threshold in this case are: ransac_fuseMaxDiffXY, ransac_fuseMaxDiffPhi

Definition at line 92 of file se2.h.

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

◆ ransac_fuseMaxDiffPhi

double mrpt::tfest::TSE2RobustParams::ransac_fuseMaxDiffPhi {mrpt::DEG2RAD(0.1)}

(Default=0.1degree) (In radians)

Definition at line 96 of file se2.h.

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

◆ ransac_fuseMaxDiffXY

double mrpt::tfest::TSE2RobustParams::ransac_fuseMaxDiffXY {0.01}

(Default = 0.01)

Definition at line 94 of file se2.h.

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

◆ ransac_mahalanobisDistanceThreshold

double mrpt::tfest::TSE2RobustParams::ransac_mahalanobisDistanceThreshold {3.0}

(Default = 3.0)

Definition at line 80 of file se2.h.

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

◆ ransac_maxSetSize

unsigned int mrpt::tfest::TSE2RobustParams::ransac_maxSetSize {20}

(Default = 20)

Definition at line 78 of file se2.h.

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

◆ ransac_min_nSimulations

unsigned int mrpt::tfest::TSE2RobustParams::ransac_min_nSimulations {1500}

(Default = 1500) See parameter probability_find_good_model

Definition at line 105 of file se2.h.

◆ ransac_minSetSize

unsigned int mrpt::tfest::TSE2RobustParams::ransac_minSetSize {3}

(Default=3)

Definition at line 76 of file se2.h.

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

◆ ransac_nSimulations

unsigned int mrpt::tfest::TSE2RobustParams::ransac_nSimulations {0}

(Default = 0) If set to 0, an adaptive algorithm is used to determine the number of iterations, such as a good model is found with a probability p=0.999, or that passed as the parameter probability_find_good_model

Definition at line 85 of file se2.h.

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

◆ user_individual_compat_callback

TFunctorCheckPotentialMatch mrpt::tfest::TSE2RobustParams::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.

Definition at line 121 of file se2.h.

◆ user_individual_compat_callback_userdata

void* mrpt::tfest::TSE2RobustParams::user_individual_compat_callback_userdata

User data to be passed to user_individual_compat_callback()

Definition at line 123 of file se2.h.

◆ verbose

bool mrpt::tfest::TSE2RobustParams::verbose {false}

(Default=false)

Definition at line 111 of file se2.h.

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




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