The ICP algorithm return information.
Definition at line 125 of file CGridMapAligner.h.
#include <mrpt/slam/CGridMapAligner.h>
Classes | |
struct | TPairPlusDistance |
Public Member Functions | |
TReturnInfo () | |
Initialization. | |
Public Attributes | |
size_t | cbSize |
Size of the structure, do not change, it's set automatically. | |
float | goodness |
A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences. | |
mrpt::poses::CPose2D | noRobustEstimation |
The "brute" estimation from using all the available correspondences, provided just for comparison purposes (it is not the robust estimation, available as the result of the Align method). | |
mrpt::poses::CPosePDFSOGPtr | sog1 |
The different SOG densities at different steps of the algorithm: | |
mrpt::poses::CPosePDFSOGPtr | sog2 |
mrpt::poses::CPosePDFSOGPtr | sog3 |
mrpt::maps::CLandmarksMapPtr | landmarks_map1 |
The landmarks of each map (the indices of these landmarks correspond to those in "correspondences") | |
mrpt::maps::CLandmarksMapPtr | landmarks_map2 |
mrpt::utils::TMatchingPairList | correspondences |
All the found correspondences (not consistent) | |
std::vector< TPairPlusDistance > | correspondences_dists_maha |
Mahalanobis distance for each potential correspondence. | |
std::vector< double > | icp_goodness_all_sog_modes |
The ICP goodness of all potential SOG modes at the stage "sog2", thus before the removing of "bad" ICP matches. | |
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inline |
Initialization.
Definition at line 129 of file CGridMapAligner.h.
size_t mrpt::slam::CGridMapAligner::TReturnInfo::cbSize |
Size of the structure, do not change, it's set automatically.
Definition at line 136 of file CGridMapAligner.h.
mrpt::utils::TMatchingPairList mrpt::slam::CGridMapAligner::TReturnInfo::correspondences |
All the found correspondences (not consistent)
Definition at line 160 of file CGridMapAligner.h.
std::vector<TPairPlusDistance> mrpt::slam::CGridMapAligner::TReturnInfo::correspondences_dists_maha |
Mahalanobis distance for each potential correspondence.
Definition at line 171 of file CGridMapAligner.h.
float mrpt::slam::CGridMapAligner::TReturnInfo::goodness |
A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences.
Definition at line 140 of file CGridMapAligner.h.
std::vector<double> mrpt::slam::CGridMapAligner::TReturnInfo::icp_goodness_all_sog_modes |
The ICP goodness of all potential SOG modes at the stage "sog2", thus before the removing of "bad" ICP matches.
Definition at line 173 of file CGridMapAligner.h.
mrpt::maps::CLandmarksMapPtr mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map1 |
The landmarks of each map (the indices of these landmarks correspond to those in "correspondences")
Definition at line 157 of file CGridMapAligner.h.
mrpt::maps::CLandmarksMapPtr mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map2 |
Definition at line 157 of file CGridMapAligner.h.
mrpt::poses::CPose2D mrpt::slam::CGridMapAligner::TReturnInfo::noRobustEstimation |
The "brute" estimation from using all the available correspondences, provided just for comparison purposes (it is not the robust estimation, available as the result of the Align method).
Definition at line 144 of file CGridMapAligner.h.
mrpt::poses::CPosePDFSOGPtr mrpt::slam::CGridMapAligner::TReturnInfo::sog1 |
The different SOG densities at different steps of the algorithm:
Definition at line 154 of file CGridMapAligner.h.
mrpt::poses::CPosePDFSOGPtr mrpt::slam::CGridMapAligner::TReturnInfo::sog2 |
Definition at line 154 of file CGridMapAligner.h.
mrpt::poses::CPosePDFSOGPtr mrpt::slam::CGridMapAligner::TReturnInfo::sog3 |
Definition at line 154 of file CGridMapAligner.h.
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