mrpt::slam::CGridMapAligner::TReturnInfo Struct Reference

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Detailed Description

The ICP algorithm return information.

#include <mrpt/slam/CGridMapAligner.h>

List of all members.

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.

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Constructor & Destructor Documentation

mrpt::slam::CGridMapAligner::TReturnInfo::TReturnInfo

(

)

[inline]

Initialization.

Definition at line 154 of file CGridMapAligner.h.

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Member Data Documentation

size_t mrpt::slam::CGridMapAligner::TReturnInfo::cbSize

Size of the structure, do not change, it's set automatically.

Definition at line 161 of file CGridMapAligner.h.

mrpt::utils::TMatchingPairList mrpt::slam::CGridMapAligner::TReturnInfo::correspondences

All the found correspondences (not consistent)

Definition at line 185 of file CGridMapAligner.h.

std::vector<TPairPlusDistance> mrpt::slam::CGridMapAligner::TReturnInfo::correspondences_dists_maha

Mahalanobis distance for each potential correspondence.

Definition at line 196 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::TReturnInfo::goodness

A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences.

Definition at line 165 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 198 of file CGridMapAligner.h.

CLandmarksMapPtr mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map1

The landmarks of each map (the indices of these landmarks correspond to those in "correspondences")

Definition at line 182 of file CGridMapAligner.h.

CLandmarksMapPtr mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map2

Definition at line 182 of file CGridMapAligner.h.

CPose2D mrpt::slam::CGridMapAligner::TReturnInfo::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).

Definition at line 169 of file CGridMapAligner.h.

CPosePDFSOGPtr mrpt::slam::CGridMapAligner::TReturnInfo::sog1

The different SOG densities at different steps of the algorithm:

• sog1 : Directly from the matching of features
• sog2 : Merged of sog1
• sog3 : sog2 refined with ICP

• The final sog is the merge of sog3.

Definition at line 179 of file CGridMapAligner.h.

CPosePDFSOGPtr mrpt::slam::CGridMapAligner::TReturnInfo::sog2

Definition at line 179 of file CGridMapAligner.h.

CPosePDFSOGPtr mrpt::slam::CGridMapAligner::TReturnInfo::sog3

Definition at line 179 of file CGridMapAligner.h.