61 void loadFromConfigFile(
63 const std::string §ion);
205 mrpt::poses::CPosePDFPtr AlignPDF(
209 float *runningTime = NULL,
230 mrpt::poses::CPose3DPDFPtr Align3DPDF(
234 float *runningTime = NULL,
243 float kernel(
const float &x2,
const float &rho2);
247 mrpt::poses::CPosePDFPtr ICP_Method_Classic(
255 mrpt::poses::CPosePDFPtr ICP_Method_LM(
263 mrpt::poses::CPosePDFPtr ICP_Method_IKF(
271 mrpt::poses::CPose3DPDFPtr ICP3D_Method_Classic(
unsigned int cbSize
Size in bytes of this struct: Must be set correctly before using it.
float quality
A measure of the 'quality' of the local minimum of the sqr.
The ICP algorithm configuration data.
float ransac_mahalanobisDistanceThreshold
RANSAC-step options:
TICPAlgorithm ICP_algorithm
The algorithm to use (default: icpClassic) See http://www.mrpt.org/Scan_Matching_Algorithms for detai...
Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a ...
static void fill(bimap< enum_t, std::string > &m_map)
bool skip_quality_calculation
Skip the (sometimes) expensive evaluation of the term 'quality' at ICP output (Default=true) ...
Only specializations of this class are defined for each enum type of interest.
unsigned int ransac_nSimulations
float ALFA
The scale factor for threshold everytime convergence is achieved.
TConfigParams options
The options employed by the ICP align.
float kernel_rho
Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0...
float minAbsStep_rot
If the correction in all rotation coordinates (yaw,pitch,roll) is below this threshold (in radians)...
uint32_t corresponding_points_decimation
Decimation of the point cloud being registered against the reference one (default=5) - set to 1 to ha...
This class allows loading and storing values and vectors of different types from a configuration text...
float goodness
A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
bool ransac_fuseByCorrsMatch
RANSAC-step options:
Declares a class that represents a Probability Density function (PDF) of a 2D pose ...
unsigned int maxIterations
Maximum number of iterations to run.
A bidirectional version of std::map, declared as bimap and which actually contains two std...
float covariance_varPoints
This is the normalization constant that is used to scale the whole 3x3 covariance.
bool doRANSAC
Perform a RANSAC step after the ICP convergence, to obtain a better estimation of the pose PDF...
CICP(const TConfigParams &icpParams)
Constructor that directly set the ICP params from a given struct.
TICPAlgorithm
The ICP algorithm selection, used in mrpt::slam::CICP::options.
bool onlyClosestCorrespondences
The usual approach: to consider only the closest correspondence for each local point (Default to true...
unsigned short nIterations
The number of executed iterations until convergence.
bool use_kernel
Whether to use kernel_rho to smooth distances, or use distances directly (default=true) ...
CICP()
Constructor with the default options.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool skip_cov_calculation
Skip the computation of the covariance (saves some time) (default=false)
Declares a virtual base class for all metric maps storage classes.
A base class for any algorithm able of maps alignment.
float smallestThresholdDist
The size for threshold such that iterations will stop, since it is considered precise enough...
The ICP algorithm return information.
float ransac_fuseMaxDiffXY
RANSAC-step options:
Declares a class that represents a Probability Density function (PDF) of a 3D pose ...
virtual ~CICP()
Destructor.
float LM_initial_lambda
The initial value of the lambda parameter in the LM method (default=1e-4).
float normalizationStd
RANSAC-step option: The standard deviation in X,Y of landmarks/points which are being matched (used t...
float minAbsStep_trans
If the correction in all translation coordinates (X,Y,Z) is below this threshold (in meters)...
slam::TICPAlgorithm enum_t
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
float Axy_aprox_derivatives
The size of the perturbance in x & y used to estimate the Jacobians of the square error (in LM & IKF ...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...