Parameters for se2_l2_robust().
See function for more details
Definition at line 62 of file se2.h.
#include <mrpt/tfest/se2.h>
◆ TSE2RobustParams()
mrpt::tfest::TSE2RobustParams::TSE2RobustParams |
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Default values.
Definition at line 89 of file se2.h.
◆ max_rmse_to_end
double mrpt::tfest::TSE2RobustParams::max_rmse_to_end |
Stop searching for solutions when the RMSE of one solution is below this threshold. Special value "0" means "auto", which employs "2*normalizationStd".
Definition at line 77 of file se2.h.
◆ probability_find_good_model
double mrpt::tfest::TSE2RobustParams::probability_find_good_model |
(Default = 0.999) See parameter ransac_nSimulations. When using probability_find_good_model
, the minimum number of iterations can be set with ransac_min_nSimulations
Definition at line 75 of file se2.h.
◆ ransac_algorithmForLandmarks
bool mrpt::tfest::TSE2RobustParams::ransac_algorithmForLandmarks |
(Default = true) Use Mahalanobis distance (true) or Euclidean dist (false)
Definition at line 74 of file se2.h.
◆ ransac_fuseByCorrsMatch
bool mrpt::tfest::TSE2RobustParams::ransac_fuseByCorrsMatch |
(Default = true) If true, the weight of Gaussian modes will be increased when an exact match in the subset of correspondences for the modes is found.
Otherwise, an approximate method is used as test by just looking at the resulting X,Y,PHI means. Threshold in this case are: ransac_fuseMaxDiffXY, ransac_fuseMaxDiffPhi
Definition at line 71 of file se2.h.
◆ ransac_fuseMaxDiffPhi
double mrpt::tfest::TSE2RobustParams::ransac_fuseMaxDiffPhi |
(Default=0.1degree) (In radians)
Definition at line 73 of file se2.h.
◆ ransac_fuseMaxDiffXY
double mrpt::tfest::TSE2RobustParams::ransac_fuseMaxDiffXY |
(Default = 0.01)
Definition at line 72 of file se2.h.
◆ ransac_mahalanobisDistanceThreshold
double mrpt::tfest::TSE2RobustParams::ransac_mahalanobisDistanceThreshold |
(Default = 3.0)
Definition at line 66 of file se2.h.
◆ ransac_maxSetSize
unsigned int mrpt::tfest::TSE2RobustParams::ransac_maxSetSize |
(Default = 20)
Definition at line 65 of file se2.h.
◆ ransac_min_nSimulations
unsigned int mrpt::tfest::TSE2RobustParams::ransac_min_nSimulations |
(Default = 1500) See parameter probability_find_good_model
Definition at line 76 of file se2.h.
◆ ransac_minSetSize
unsigned int mrpt::tfest::TSE2RobustParams::ransac_minSetSize |
(Default=3)
Definition at line 64 of file se2.h.
◆ ransac_nSimulations
unsigned int mrpt::tfest::TSE2RobustParams::ransac_nSimulations |
(Default = 0) If set to 0, an adaptive algorithm is used to determine the number of iterations, such as a good model is found with a probability p=0.999, or that passed as the parameter probability_find_good_model
Definition at line 67 of file se2.h.
◆ user_individual_compat_callback
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 85 of file se2.h.
◆ user_individual_compat_callback_userdata
void* mrpt::tfest::TSE2RobustParams::user_individual_compat_callback_userdata |
◆ verbose
bool mrpt::tfest::TSE2RobustParams::verbose |
(Default=false)
Definition at line 78 of file se2.h.