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mrpt::slam::CGridMapAligner::TReturnInfo Struct Reference

Detailed Description

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. More...
 

Public Attributes

size_t cbSize
 Size of the structure, do not change, it's set automatically. More...
 
float goodness
 A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences. More...
 
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). More...
 
mrpt::poses::CPosePDFSOGPtr sog1
 The different SOG densities at different steps of the algorithm: More...
 
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") More...
 
mrpt::maps::CLandmarksMapPtr landmarks_map2
 
mrpt::utils::TMatchingPairList correspondences
 All the found correspondences (not consistent) More...
 
std::vector< TPairPlusDistancecorrespondences_dists_maha
 Mahalanobis distance for each potential correspondence. More...
 
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. More...
 

Constructor & Destructor Documentation

mrpt::slam::CGridMapAligner::TReturnInfo::TReturnInfo ( )
inline

Initialization.

Definition at line 129 of file CGridMapAligner.h.

Member Data Documentation

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:

  • sog1 : Directly from the matching of features
  • sog2 : Merged of sog1
  • sog3 : sog2 refined with ICP
  • The final sog is the merge of sog3.

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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