#include <mrpt/slam/CICP.h>
Public Member Functions | |
TConfigParams () | |
Initializer for default values: More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More... | |
void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More... | |
virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string §ion) const |
This method saves the options to a ".ini"-like file or memory-stored string list. More... | |
void | saveToConfigFileName (const std::string &config_file, const std::string §ion) const |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More... | |
void | dumpToConsole () const |
Just like dumpToTextStream() but sending the text to the console (std::cout) More... | |
Public Attributes | |
float | thresholdDist |
float | thresholdAng |
Initial threshold distance for two points to become a correspondence. More... | |
float | ALFA |
The scale factor for threshold everytime convergence is achieved. More... | |
float | smallestThresholdDist |
The size for threshold such that iterations will stop, since it is considered precise enough. More... | |
float | covariance_varPoints |
This is the normalization constant ![]() | |
bool | doRANSAC |
Perform a RANSAC step, mrpt::tfest::se2_l2_robust(), after the ICP convergence, to obtain a better estimation of the pose PDF. More... | |
float | kernel_rho |
Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0.07m) More... | |
bool | use_kernel |
Whether to use kernel_rho to smooth distances, or use distances directly (default=true) More... | |
float | Axy_aprox_derivatives |
[LM method only] The size of the perturbance in x & y used to estimate the Jacobians of the square error (default=0.05) More... | |
float | LM_initial_lambda |
[LM method only] The initial value of the lambda parameter in the LM method (default=1e-4) More... | |
bool | skip_cov_calculation |
Skip the computation of the covariance (saves some time) (default=false) More... | |
bool | skip_quality_calculation |
Skip the (sometimes) expensive evaluation of the term 'quality' at ICP output (Default=true) More... | |
uint32_t | corresponding_points_decimation |
Decimation of the point cloud being registered against the reference one (default=5) - set to 1 to have the older (MRPT <0.9.5) behavior of not approximating ICP by ignoring the correspondence of some points. More... | |
Algorithms selection | |
TICPAlgorithm | ICP_algorithm |
The algorithm to use (default: icpClassic). See http://www.mrpt.org/tutorials/programming/scan-matching-and-icp/ for details. More... | |
TICPCovarianceMethod | ICP_covariance_method |
The method to use for covariance estimation (Default: icpCovFiniteDifferences) More... | |
Correspondence-finding criteria | |
bool | onlyClosestCorrespondences |
The usual approach: to consider only the closest correspondence for each local point (Default to true) More... | |
bool | onlyUniqueRobust |
Termination criteria | |
Apart of "onlyClosestCorrespondences=true", if this option is enabled only the closest correspondence for each reference point will be kept (default=false). | |
unsigned int | maxIterations |
Maximum number of iterations to run. More... | |
float | minAbsStep_trans |
If the correction in all translation coordinates (X,Y,Z) is below this threshold (in meters), iterations are terminated (Default:1e-6) More... | |
float | minAbsStep_rot |
If the correction in all rotation coordinates (yaw,pitch,roll) is below this threshold (in radians), iterations are terminated (Default:1e-6) More... | |
RANSAC-step options for mrpt::tfest::se2_l2_robust() if \a doRANSAC=true | |
unsigned int | ransac_minSetSize |
unsigned int | ransac_maxSetSize |
unsigned int | ransac_nSimulations |
float | ransac_mahalanobisDistanceThreshold |
float | normalizationStd |
RANSAC-step option: The standard deviation in X,Y of landmarks/points which are being matched (used to compute covariances in the SoG) More... | |
bool | ransac_fuseByCorrsMatch |
float | ransac_fuseMaxDiffXY |
float | ransac_fuseMaxDiffPhi |
Static Protected Member Functions | |
static void | dumpVar_int (CStream &out, const char *varName, int v) |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More... | |
static void | dumpVar_float (CStream &out, const char *varName, float v) |
static void | dumpVar_double (CStream &out, const char *varName, double v) |
static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
mrpt::slam::CICP::TConfigParams::TConfigParams | ( | ) |
Initializer for default values:
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
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virtual |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented from mrpt::utils::CLoadableOptions.
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staticprotectedinherited |
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staticprotectedinherited |
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staticprotectedinherited |
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
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staticprotectedinherited |
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virtual |
This method load the options from a ".ini"-like file or memory-stored string list.
Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:
Implements mrpt::utils::CLoadableOptions.
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inherited |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicVFF::TOptions, and mrpt::nav::CHolonomicND::TOptions.
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inherited |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
float mrpt::slam::CICP::TConfigParams::ALFA |
float mrpt::slam::CICP::TConfigParams::Axy_aprox_derivatives |
uint32_t mrpt::slam::CICP::TConfigParams::corresponding_points_decimation |
Decimation of the point cloud being registered against the reference one (default=5) - set to 1 to have the older (MRPT <0.9.5) behavior of not approximating ICP by ignoring the correspondence of some points.
The speed-up comes from a decimation of the number of KD-tree queries, the most expensive step in ICP
float mrpt::slam::CICP::TConfigParams::covariance_varPoints |
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 paper: J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal, "A Robust, Multi-Hypothesis Approach to Matching Occupancy Grid Maps", Robotica, vol. 31, no. 5, pp. 687-701, 2013.
bool mrpt::slam::CICP::TConfigParams::doRANSAC |
Perform a RANSAC step, mrpt::tfest::se2_l2_robust(), after the ICP convergence, to obtain a better estimation of the pose PDF.
TICPAlgorithm mrpt::slam::CICP::TConfigParams::ICP_algorithm |
The algorithm to use (default: icpClassic). See http://www.mrpt.org/tutorials/programming/scan-matching-and-icp/ for details.
TICPCovarianceMethod mrpt::slam::CICP::TConfigParams::ICP_covariance_method |
float mrpt::slam::CICP::TConfigParams::kernel_rho |
float mrpt::slam::CICP::TConfigParams::LM_initial_lambda |
unsigned int mrpt::slam::CICP::TConfigParams::maxIterations |
float mrpt::slam::CICP::TConfigParams::minAbsStep_rot |
float mrpt::slam::CICP::TConfigParams::minAbsStep_trans |
float mrpt::slam::CICP::TConfigParams::normalizationStd |
bool mrpt::slam::CICP::TConfigParams::onlyClosestCorrespondences |
bool mrpt::slam::CICP::TConfigParams::ransac_fuseByCorrsMatch |
float mrpt::slam::CICP::TConfigParams::ransac_mahalanobisDistanceThreshold |
unsigned int mrpt::slam::CICP::TConfigParams::ransac_maxSetSize |
unsigned int mrpt::slam::CICP::TConfigParams::ransac_minSetSize |
unsigned int mrpt::slam::CICP::TConfigParams::ransac_nSimulations |
bool mrpt::slam::CICP::TConfigParams::skip_cov_calculation |
bool mrpt::slam::CICP::TConfigParams::skip_quality_calculation |
float mrpt::slam::CICP::TConfigParams::smallestThresholdDist |
float mrpt::slam::CICP::TConfigParams::thresholdAng |
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