Parameters for se3_l2_robust().
See function for more details
Definition at line 60 of file se3.h.
#include <mrpt/tfest/se3.h>
mrpt::tfest::TSE3RobustParams::TSE3RobustParams |
( |
| ) |
|
|
inline |
Definition at line 79 of file se3.h.
bool mrpt::tfest::TSE3RobustParams::forceScaleToUnity |
(Default=true)
Definition at line 68 of file se3.h.
double mrpt::tfest::TSE3RobustParams::ransac_maxSetSizePct |
(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 64 of file se3.h.
unsigned int mrpt::tfest::TSE3RobustParams::ransac_minSetSize |
(Default=5) The minimum amount of points in a set to start a consensus set.
- See also
- ransac_maxSetSizePct
Definition at line 62 of file se3.h.
unsigned int mrpt::tfest::TSE3RobustParams::ransac_nmaxSimulations |
(Default=50) The maximum number of iterations of the RANSAC algorithm
Definition at line 63 of file se3.h.
double mrpt::tfest::TSE3RobustParams::ransac_threshold_ang |
(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 66 of file se3.h.
double mrpt::tfest::TSE3RobustParams::ransac_threshold_lin |
(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 65 of file se3.h.
double mrpt::tfest::TSE3RobustParams::ransac_threshold_scale |
(Default=0.03) The maximum difference in scale for a solution to be considered as matching a candidate solution (dimensionless)
Definition at line 67 of file se3.h.
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 76 of file se3.h.
void* mrpt::tfest::TSE3RobustParams::user_individual_compat_callback_userdata |
bool mrpt::tfest::TSE3RobustParams::verbose |
(Default=false)
Definition at line 69 of file se3.h.