mrpt::slam::CICP::TConfigParams Class Reference
The ICP algorithm configuration data.
More...
#include <mrpt/slam/CICP.h>
List of all members.
Detailed Description
The ICP algorithm configuration data.
Definition at line 78 of file CICP.h.
Constructor & Destructor Documentation
mrpt::slam::CICP::TConfigParams::TConfigParams |
( |
|
) |
|
Initializer for default values:.
Member Function Documentation
void mrpt::slam::CICP::TConfigParams::dumpToTextStream |
( |
CStream & |
out |
) |
const [virtual] |
void mrpt::slam::CICP::TConfigParams::loadFromConfigFile |
( |
const mrpt::utils::CConfigFileBase & |
source, |
|
|
const std::string & |
section | |
|
) |
| | [virtual] |
Member Data Documentation
The scale factor for threshold everytime convergence is achieved.
Definition at line 119 of file CICP.h.
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 170 of file CICP.h.
This is the normalization constant
that is used to scale the whole 3x3 covariance.
This has a default value of
, that is, a 2cm sigma. See the paper: ....
Definition at line 129 of file CICP.h.
Perform a RANSAC step after the ICP convergence, to obtain a better estimation of the pose PDF.
Definition at line 133 of file CICP.h.
Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0.07m).
Definition at line 162 of file CICP.h.
The initial value of the lambda parameter in the LM method (default=1e-4).
Definition at line 174 of file CICP.h.
Maximum number of iterations to run.
Definition at line 111 of file CICP.h.
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 148 of file CICP.h.
The usual approach: to consider only the closest correspondence for each local point (Default to true).
Definition at line 103 of file CICP.h.
Apart of "onlyClosestCorrespondences=true", if this option is enabled only the closest correspondence for each reference point will be kept (default=false).
Definition at line 107 of file CICP.h.
RANSAC-step options:.
- See also:
- CICP::robustRigidTransformation
Definition at line 153 of file CICP.h.
RANSAC-step options:.
- See also:
- CICP::robustRigidTransformation
Definition at line 158 of file CICP.h.
RANSAC-step options:.
- See also:
- CICP::robustRigidTransformation
Definition at line 143 of file CICP.h.
RANSAC-step options:.
- See also:
- CICP::robustRigidTransformation
Definition at line 138 of file CICP.h.
The size for threshold such that iterations will stop, since it is considered precise enough.
Definition at line 123 of file CICP.h.
Initial threshold distance for two points to become a correspondence.
Definition at line 115 of file CICP.h.
Whether to use kernel_rho to smooth distances, or use distances directly (default=true).
Definition at line 166 of file CICP.h.