MRPT
1.9.9
|
The ICP algorithm return information.
Definition at line 151 of file CGridMapAligner.h.
#include <mrpt/slam/CGridMapAligner.h>
Classes | |
struct | TPairPlusDistance |
Public Member Functions | |
TReturnInfo () | |
Public Attributes | |
float | goodness |
A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences. More... | |
mrpt::poses::CPose2D | noRobustEstimation |
The "brute" estimation from using all the available correspondences, provided just for comparison purposes (it is not the robust estimation, available as the result of the Align method). More... | |
mrpt::containers::deepcopy_poly_ptr< mrpt::poses::CPosePDFSOG::Ptr > | sog1 |
The different SOG densities at different steps of the algorithm: More... | |
mrpt::containers::deepcopy_poly_ptr< mrpt::poses::CPosePDFSOG::Ptr > | sog2 |
mrpt::containers::deepcopy_poly_ptr< mrpt::poses::CPosePDFSOG::Ptr > | sog3 |
mrpt::maps::CLandmarksMap::Ptr | landmarks_map1 |
The landmarks of each map (the indices of these landmarks correspond to those in "correspondences") More... | |
mrpt::maps::CLandmarksMap::Ptr | landmarks_map2 |
mrpt::tfest::TMatchingPairList | correspondences |
All the found correspondences (not consistent) More... | |
std::vector< TPairPlusDistance > | correspondences_dists_maha |
Mahalanobis distance for each potential correspondence. More... | |
std::vector< double > | icp_goodness_all_sog_modes |
The ICP goodness of all potential SOG modes at the stage "sog2", thus before the removing of "bad" ICP matches. More... | |
|
inline |
Definition at line 153 of file CGridMapAligner.h.
mrpt::tfest::TMatchingPairList mrpt::slam::CGridMapAligner::TReturnInfo::correspondences |
All the found correspondences (not consistent)
Definition at line 181 of file CGridMapAligner.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
std::vector<TPairPlusDistance> mrpt::slam::CGridMapAligner::TReturnInfo::correspondences_dists_maha |
Mahalanobis distance for each potential correspondence.
Definition at line 194 of file CGridMapAligner.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
float mrpt::slam::CGridMapAligner::TReturnInfo::goodness |
A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences.
Definition at line 157 of file CGridMapAligner.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
std::vector<double> mrpt::slam::CGridMapAligner::TReturnInfo::icp_goodness_all_sog_modes |
The ICP goodness of all potential SOG modes at the stage "sog2", thus before the removing of "bad" ICP matches.
Definition at line 198 of file CGridMapAligner.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), and mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().
mrpt::maps::CLandmarksMap::Ptr mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map1 |
The landmarks of each map (the indices of these landmarks correspond to those in "correspondences")
Definition at line 178 of file CGridMapAligner.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), and mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().
mrpt::maps::CLandmarksMap::Ptr mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map2 |
Definition at line 178 of file CGridMapAligner.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), and mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().
mrpt::poses::CPose2D mrpt::slam::CGridMapAligner::TReturnInfo::noRobustEstimation |
The "brute" estimation from using all the available correspondences, provided just for comparison purposes (it is not the robust estimation, available as the result of the Align method).
Definition at line 163 of file CGridMapAligner.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
mrpt::containers::deepcopy_poly_ptr<mrpt::poses::CPosePDFSOG::Ptr> mrpt::slam::CGridMapAligner::TReturnInfo::sog1 |
The different SOG densities at different steps of the algorithm:
Definition at line 173 of file CGridMapAligner.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
mrpt::containers::deepcopy_poly_ptr<mrpt::poses::CPosePDFSOG::Ptr> mrpt::slam::CGridMapAligner::TReturnInfo::sog2 |
Definition at line 173 of file CGridMapAligner.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
mrpt::containers::deepcopy_poly_ptr<mrpt::poses::CPosePDFSOG::Ptr> mrpt::slam::CGridMapAligner::TReturnInfo::sog3 |
Definition at line 173 of file CGridMapAligner.h.
Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().
Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: 7d5e6d718 Fri Aug 24 01:51:28 2018 +0200 at lun nov 2 08:35:50 CET 2020 |