submodules
mp2p_icp
mp2p_icp
include
mp2p_icp
WeightParameters.h
Go to the documentation of this file.
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/* -------------------------------------------------------------------------
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* A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
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* Copyright (C) 2018-2021 Jose Luis Blanco, University of Almeria
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* See LICENSE for license information.
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* ------------------------------------------------------------------------- */
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#pragma once
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#include <
mp2p_icp/PairWeights.h
>
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#include <mrpt/containers/yaml.h>
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#include <mrpt/poses/CPose3D.h>
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#include <mrpt/serialization/CSerializable.h>
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namespace
mp2p_icp
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{
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struct
WeightParameters
:
public
mrpt::serialization::CSerializable
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{
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DEFINE_SERIALIZABLE(
WeightParameters
,
mp2p_icp
)
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public
:
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bool
use_scale_outlier_detector
=
false
;
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double
scale_outlier_threshold
{1.20};
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PairWeights
pair_weights
;
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bool
use_robust_kernel
=
false
;
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std::optional<mrpt::poses::CPose3D>
currentEstimateForRobust
;
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double
robust_kernel_param
{mrpt::DEG2RAD(0.1)},
robust_kernel_scale
{400.0};
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void
load_from
(
const
mrpt::containers::yaml& p);
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void
save_to
(mrpt::containers::yaml& p)
const
;
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};
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}
// namespace mp2p_icp
PairWeights.h
Common types for all SE(3) optimal transformation methods.
mp2p_icp
Definition:
covariance.h:17
mp2p_icp::WeightParameters::use_scale_outlier_detector
bool use_scale_outlier_detector
Definition:
WeightParameters.h:34
mp2p_icp::WeightParameters::robust_kernel_scale
double robust_kernel_scale
Definition:
WeightParameters.h:55
mp2p_icp::WeightParameters::pair_weights
PairWeights pair_weights
See docs for PairWeights.
Definition:
WeightParameters.h:45
mp2p_icp::WeightParameters::robust_kernel_param
double robust_kernel_param
Definition:
WeightParameters.h:55
mp2p_icp::WeightParameters::load_from
void load_from(const mrpt::containers::yaml &p)
Definition:
WeightParameters.cpp:49
mp2p_icp::WeightParameters::currentEstimateForRobust
std::optional< mrpt::poses::CPose3D > currentEstimateForRobust
Definition:
WeightParameters.h:53
mp2p_icp::WeightParameters::save_to
void save_to(mrpt::containers::yaml &p) const
Definition:
WeightParameters.cpp:60
mp2p_icp::WeightParameters::scale_outlier_threshold
double scale_outlier_threshold
Definition:
WeightParameters.h:42
mp2p_icp::WeightParameters::use_robust_kernel
bool use_robust_kernel
Definition:
WeightParameters.h:49
mp2p_icp::WeightParameters
Definition:
WeightParameters.h:25
mp2p_icp::PairWeights
Definition:
PairWeights.h:26
mrpt_local_obstacles
Author(s): Jose-Luis Blanco-Claraco
autogenerated on Mon Aug 14 2023 02:09:04