#include <WeightParameters.h>
Public Member Functions | |
| void | load_from (const mrpt::containers::yaml &p) |
| void | save_to (mrpt::containers::yaml &p) const |
Public Attributes | |
| PairWeights | pair_weights |
| See docs for PairWeights. More... | |
| double | scale_outlier_threshold {1.20} |
| bool | use_scale_outlier_detector = false |
An optional "a priori" term. | |
| bool | use_robust_kernel = false |
| std::optional< mrpt::poses::CPose3D > | currentEstimateForRobust |
| double | robust_kernel_param {mrpt::DEG2RAD(0.1)} |
| double | robust_kernel_scale {400.0} |
Detailed Description
Common weight parameters for OLAE and Horn's solvers.
Definition at line 25 of file WeightParameters.h.
Member Function Documentation
◆ load_from()
| void WeightParameters::load_from | ( | const mrpt::containers::yaml & | p | ) |
Definition at line 49 of file WeightParameters.cpp.
◆ save_to()
| void WeightParameters::save_to | ( | mrpt::containers::yaml & | p | ) | const |
Definition at line 60 of file WeightParameters.cpp.
Member Data Documentation
◆ currentEstimateForRobust
| std::optional<mrpt::poses::CPose3D> mp2p_icp::WeightParameters::currentEstimateForRobust |
The current guess for the sought transformation. Must be supplied if use_robust_kernel==true.
Definition at line 53 of file WeightParameters.h.
◆ pair_weights
| PairWeights mp2p_icp::WeightParameters::pair_weights |
See docs for PairWeights.
Definition at line 45 of file WeightParameters.h.
◆ robust_kernel_param
| double mp2p_icp::WeightParameters::robust_kernel_param {mrpt::DEG2RAD(0.1)} |
Definition at line 55 of file WeightParameters.h.
◆ robust_kernel_scale
| double mp2p_icp::WeightParameters::robust_kernel_scale {400.0} |
Definition at line 55 of file WeightParameters.h.
◆ scale_outlier_threshold
| double mp2p_icp::WeightParameters::scale_outlier_threshold {1.20} |
If use_scale_outlier_detector==true, discard a potential point-to-point pairing if the ratio between the norm of their final vectors is larger than this value. A value of "1.0" will only allow numerically perfect pairings, so a slightly larger value is required. The closer to 1, the stricter. A much larger threshold (e.g. 5.0) would only reject the most obvious outliers. Refer to the technical report.
Definition at line 42 of file WeightParameters.h.
◆ use_robust_kernel
| bool mp2p_icp::WeightParameters::use_robust_kernel = false |
Definition at line 49 of file WeightParameters.h.
◆ use_scale_outlier_detector
| bool mp2p_icp::WeightParameters::use_scale_outlier_detector = false |
Enables the use of the scale-based outlier detector. Refer to the technical report. This robustness feature is independent from use_robust_kernel.
Definition at line 34 of file WeightParameters.h.
The documentation for this struct was generated from the following files: