MRPT  1.9.9
mrpt::tfest::TSE3RobustParams Struct Reference

Detailed Description

Parameters for se3_l2_robust().

See function for more details

Definition at line 63 of file se3.h.

#include <mrpt/tfest/se3.h>

Public Attributes

unsigned int ransac_minSetSize {5}
 (Default=5) The minimum amount of points in a set to start a consensus set. More...
 
unsigned int ransac_nmaxSimulations {50}
 (Default=50) The maximum number of iterations of the RANSAC algorithm More...
 
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. More...
 
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) More...
 
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) More...
 
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) More...
 
bool forceScaleToUnity {true}
 (Default=true) 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...
 

Member Data Documentation

◆ forceScaleToUnity

bool mrpt::tfest::TSE3RobustParams::forceScaleToUnity {true}

(Default=true)

Definition at line 85 of file se3.h.

◆ ransac_maxSetSizePct

double mrpt::tfest::TSE3RobustParams::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".

Definition at line 74 of file se3.h.

◆ ransac_minSetSize

unsigned int mrpt::tfest::TSE3RobustParams::ransac_minSetSize {5}

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

See also
ransac_maxSetSizePct

Definition at line 67 of file se3.h.

◆ ransac_nmaxSimulations

unsigned int mrpt::tfest::TSE3RobustParams::ransac_nmaxSimulations {50}

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

Definition at line 69 of file se3.h.

◆ ransac_threshold_ang

double mrpt::tfest::TSE3RobustParams::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)

Definition at line 80 of file se3.h.

◆ ransac_threshold_lin

double mrpt::tfest::TSE3RobustParams::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)

Definition at line 77 of file se3.h.

◆ ransac_threshold_scale

double mrpt::tfest::TSE3RobustParams::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)

Definition at line 83 of file se3.h.

◆ user_individual_compat_callback

TFunctorCheckPotentialMatch mrpt::tfest::TSE3RobustParams::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 97 of file se3.h.

◆ verbose

bool mrpt::tfest::TSE3RobustParams::verbose {false}

(Default=false)

Definition at line 87 of file se3.h.




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