34 maxDistForCorrespondence(0.50f),
35 maxAngularDistForCorrespondence(.0f),
36 onlyKeepTheClosest(true),
37 onlyUniqueRobust(false),
38 decimation_other_map_points(1),
39 offset_other_map_points(0),
40 angularDistPivotPoint(0,0,0)
60 bool enableSaveAs3DObject;
61 bool enableObservationLikelihood;
62 bool enableObservationInsertion;
65 void loadFromConfigFile(const
mrpt::utils::CConfigFileBase &source, const
std::
string §ionNamePrefix);
67 void dumpToTextStream(
mrpt::utils::
CStream &out) const;
mrpt::math::TPoint3D angularDistPivotPoint
The point used to calculate angular distances: e.g. the coordinates of the sensor for a 2D laser scan...
float maxAngularDistForCorrespondence
Allowed "angular error" (in radians): this permits larger pairing threshold distances to more distant...
size_t decimation_other_map_points
(Default=1) Only consider 1 out of this number of points from the "other" map.
class BASE_IMPEXP CStream
class BASE_IMPEXP CSerializable
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)
#define DEFINE_SERIALIZABLE_POST_CUSTOM_LINKAGE(class_name, _LINKAGE_)
bool onlyKeepTheClosest
If set to true (default), only the closest correspondence will be returned. If false all are returned...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
size_t offset_other_map_points
Index of the first point in the "other" map to start checking for correspondences (Default=0) ...
Common params to all maps derived from mrpt::maps::CMetricMap.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_LINKAGE(class_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
Parameters for the determination of matchings between point clouds, etc.
TMatchingParams()
Ctor: default values.