Struct TSE3RobustParams

Struct Documentation

struct TSE3RobustParams

Parameters for se3_l2_robust(). See function for more details

Public Members

unsigned int ransac_minSetSize = {5}

(Default=5) The minimum amount of points in a set to start a consensus set.

See also

ransac_maxSetSizePct

unsigned int ransac_nmaxSimulations = {50}

(Default=50) The maximum number of iterations of the RANSAC algorithm

double ransac_maxSetSizePct = {0.5}

(Default=0.5) The minimum ratio (0.0 - 1.0) of the input set that is considered to be inliers. Important: The minimum size of a consensus set to be accepted will be “INPUT_CORRESPONDENCES*ransac_maxSetSizePct”.

double ransac_threshold_lin = {0.05}

(Default=0.05) The maximum distance in X,Y,Z for a solution to be considered as matching a candidate solution (In meters)

double ransac_threshold_ang = {mrpt::DEG2RAD(1.)}

(Default=1 deg) The maximum angle (yaw,pitch,roll) for a solution to be considered as matching a candidate solution (In radians)

double ransac_threshold_scale = {0.03}

(Default=0.03) The maximum difference in scale for a solution to be considered as matching a candidate solution (dimensionless)

bool forceScaleToUnity = {true}

(Default=true)

bool verbose = {false}

(Default=false)

TFunctorCheckPotentialMatch user_individual_compat_callback

If provided, this user callback will be invoked to determine the individual compatibility between each potential pair of elements. Can check image descriptors, geometrical properties, etc.

Return:

Must return true if the pair is a potential match, false otherwise.