Go to the documentation of this file.
34 maxDistForCorrespondence(0.50f),
35 maxAngularDistForCorrespondence(.0f),
36 onlyKeepTheClosest(true),
37 onlyUniqueRobust(false),
38 decimation_other_map_points(1),
39 offset_other_map_points(0),
40 angularDistPivotPoint(0,0,0)
TMatchingParams()
Ctor: default values.
size_t decimation_other_map_points
(Default=1) Only consider 1 out of this number of points from the "other" map.
bool enableSaveAs3DObject
(Default=true) If false, calling CMetricMap::getAs3DObject() will have no effects
Parameters for CMetricMap::compute3DMatchingRatio()
float maxDistForCorr
(Default: 0.10f) The minimum distance between 2 non-probabilistic map elements for counting them as a...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Common params to all maps derived from mrpt::maps::CMetricMap
bool onlyUniqueRobust
Additional consistency filter: "onlyKeepTheClosest" allows one correspondence for each "local map" po...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_LINKAGE(class_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
float maxDistForCorrespondence
Maximum linear distance between two points to be paired (meters)
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
This class allows loading and storing values and vectors of different types from a configuration text...
float maxMahaDistForCorr
(Default: 2.0f) The minimum Mahalanobis distance between 2 probabilistic map elements for counting th...
bool enableObservationInsertion
(Default=true) Enable inserting observations in this map
Parameters for the determination of matchings between point clouds, etc.
size_t offset_other_map_points
Index of the first point in the "other" map to start checking for correspondences (Default=0)
bool enableObservationLikelihood
(Default=true) Enable computing observation likelihoods with this map
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
bool onlyKeepTheClosest
If set to true (default), only the closest correspondence will be returned. If false all are returned...
mrpt::math::TPoint3D angularDistPivotPoint
The point used to calculate angular distances: e.g. the coordinates of the sensor for a 2D laser scan...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_LINKAGE(class_name, _LINKAGE_)
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
float maxAngularDistForCorrespondence
Allowed "angular error" (in radians): this permits larger pairing threshold distances to more distant...
Page generated by Doxygen 1.8.16 for MRPT 1.4.0 SVN: at Mon Oct 14 22:32:58 UTC 2019 | | |