The ICP algorithm configuration data.
Definition at line 76 of file CICP.h.
Public Member Functions |
| | TConfigParams () |
| | Initializer for default values:
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| void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
| | See utils::CLoadableOptions.
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| void | dumpToTextStream (CStream &out) const |
| | See utils::CLoadableOptions.
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| 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.
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| virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &source, const std::string §ion) |
| | This method saves the options to a ".ini"-like file or memory-stored string list.
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| void | saveToConfigFileName (const std::string &config_file, const std::string §ion) |
| | Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
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| void | dumpToConsole () const |
| | This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
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Public Attributes |
| TICPAlgorithm | ICP_algorithm |
| | The algorithm to use (default: icpClassic) See http://www.mrpt.org/Scan_Matching_Algorithms for details.
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| bool | onlyClosestCorrespondences |
| | The usual approach: to consider only the closest correspondence for each local point (Default to true)
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| bool | onlyUniqueRobust |
| float | thresholdDist |
| float | thresholdAng |
| | Initial threshold distance for two points to become a correspondence.
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| float | ALFA |
| | The scale factor for threshold everytime convergence is achieved.
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| float | smallestThresholdDist |
| | The size for threshold such that iterations will stop, since it is considered precise enough.
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| float | covariance_varPoints |
| | This is the normalization constant  that is used to scale the whole 3x3 covariance.
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| bool | doRANSAC |
| | Perform a RANSAC step after the ICP convergence, to obtain a better estimation of the pose PDF.
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| unsigned int | ransac_minSetSize |
| | RANSAC-step options:
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| unsigned int | ransac_maxSetSize |
| unsigned int | ransac_nSimulations |
| float | ransac_mahalanobisDistanceThreshold |
| | RANSAC-step options:
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| 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)
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| bool | ransac_fuseByCorrsMatch |
| | RANSAC-step options:
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| float | ransac_fuseMaxDiffXY |
| | RANSAC-step options:
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| float | ransac_fuseMaxDiffPhi |
| float | kernel_rho |
| | Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0.07m).
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| bool | use_kernel |
| | Whether to use kernel_rho to smooth distances, or use distances directly (default=true)
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| float | Axy_aprox_derivatives |
| | The size of the perturbance in x & y used to estimate the Jacobians of the square error (in LM & IKF methods, default=0.05).
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| float | LM_initial_lambda |
| | The initial value of the lambda parameter in the LM method (default=1e-4).
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| bool | skip_cov_calculation |
| | Skip the computation of the covariance (saves some time) (default=false)
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| 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.
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Apart of "onlyClosestCorrespondences=true", if this option is enabled only the closest correspondence for each reference point will be kept (default=false).
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| unsigned int | maxIterations |
| | Maximum number of iterations to run.
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| 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)
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| 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)
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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.
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| 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) |
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