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92 const std::string& sectionNamePrefix)
override;
95 const std::string& section)
const override;
TMatchingParams()=default
Ctor: default values.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ionNamePrefix) override
This method load the options from a ".ini"-like file or memory-stored string list.
size_t decimation_other_map_points
(Default=1) Only consider 1 out of this number of points from the "other" map.
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
bool enableSaveAs3DObject
(Default=true) If false, calling CMetricMap::getAs3DObject() will have no effects
void saveToConfigFile(mrpt::config::CConfigFileBase &target, const std::string §ion) const override
This method saves the options to a ".ini"-like file or memory-stored string list.
Parameters for CMetricMap::compute3DMatchingRatio()
float maxDistForCorr
(Default: 0.10f) The minimum distance between 2 non-probabilistic map elements for counting them as a...
Common params to all maps derived from mrpt::maps::CMetricMap
TMatchingRatioParams()=default
bool onlyUniqueRobust
Additional consistency filter: "onlyKeepTheClosest" allows one correspondence for each "local map" po...
float maxDistForCorrespondence
Maximum linear distance between two points to be paired (meters)
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
The virtual base class which provides a unified interface for all persistent objects in MRPT.
float maxMahaDistForCorr
(Default: 2.0f) The minimum Mahalanobis distance between 2 probabilistic map elements for counting th...
bool enableObservationInsertion
(Default=true) Enable inserting observations in this map
Parameters for the determination of matchings between point clouds, etc.
size_t offset_other_map_points
Index of the first point in the "other" map to start checking for correspondences (Default=0)
bool enableObservationLikelihood
(Default=true) Enable computing observation likelihoods with this map
bool onlyKeepTheClosest
If set to true (default), only the closest correspondence will be returned.
mrpt::math::TPoint3D angularDistPivotPoint
The point used to calculate angular distances: e.g.
float maxAngularDistForCorrespondence
Allowed "angular error" (in radians): this permits larger pairing threshold distances to more distant...
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