The ICP algorithm return information.
Definition at line 151 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. | |
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). | |
CPosePDFSOGPtr | sog1 |
The different SOG densities at different steps of the algorithm:
| |
CPosePDFSOGPtr | sog2 |
CPosePDFSOGPtr | sog3 |
CLandmarksMapPtr | landmarks_map1 |
The landmarks of each map (the indices of these landmarks correspond to those in "correspondences"). | |
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. |
mrpt::slam::CGridMapAligner::TReturnInfo::TReturnInfo | ( | ) | [inline] |
Initialization.
Definition at line 155 of file CGridMapAligner.h.
Size of the structure, do not change, it's set automatically.
Definition at line 162 of file CGridMapAligner.h.
All the found correspondences (not consistent).
Definition at line 186 of file CGridMapAligner.h.
Mahalanobis distance for each potential correspondence.
Definition at line 197 of file CGridMapAligner.h.
A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences.
Definition at line 166 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 199 of file CGridMapAligner.h.
The landmarks of each map (the indices of these landmarks correspond to those in "correspondences").
Definition at line 183 of file CGridMapAligner.h.
Definition at line 183 of file CGridMapAligner.h.
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 170 of file CGridMapAligner.h.
The different SOG densities at different steps of the algorithm:
Definition at line 180 of file CGridMapAligner.h.
Definition at line 180 of file CGridMapAligner.h.
Definition at line 180 of file CGridMapAligner.h.
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