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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html">CGridMapAligner</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html">TReturnInfo</a> </li>
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<div class="title">mrpt::slam::CGridMapAligner::TReturnInfo Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::CGridMapAligner::TReturnInfo" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>The ICP algorithm return information. </p>
</div>
<p><code>#include <<a class="el" href="_c_grid_map_aligner_8h_source.html">mrpt/slam/CGridMapAligner.h</a>></code></p>
<p><a href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info-members.html">List of all members.</a></p>
<table class="memberdecls">
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Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info_1_1_t_pair_plus_distance.html">TPairPlusDistance</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a01f7a98db4abaec8ec7ccaae29d21fd1">TReturnInfo</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialization. <a href="#a01f7a98db4abaec8ec7ccaae29d21fd1"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a60da3f0ff1107dddc5eef0d93705e8cd">cbSize</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Size of the structure, do not change, it's set automatically. <a href="#a60da3f0ff1107dddc5eef0d93705e8cd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a92a3289d3cfbc3edb732018162331623">goodness</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences. <a href="#a92a3289d3cfbc3edb732018162331623"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a3cac5bdfdc82863b15200affcb0e32f5">noRobustEstimation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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). <a href="#a3cac5bdfdc82863b15200affcb0e32f5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_ptr.html">CPosePDFSOGPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a89674e5c91a128af07fb838ef6b4ec0a">sog1</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The different SOG densities at different steps of the algorithm: <a href="#a89674e5c91a128af07fb838ef6b4ec0a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_ptr.html">CPosePDFSOGPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#ac2af822868e62dd59c8c916a6de72629">sog2</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_ptr.html">CPosePDFSOGPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#adac1cea2f201fba375cc75e390bcad58">sog3</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_ptr.html">CLandmarksMapPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#afa27cb3ef9ec349d3a6612e6ad4a8f32">landmarks_map1</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The landmarks of each map (the indices of these landmarks correspond to those in "correspondences") <a href="#afa27cb3ef9ec349d3a6612e6ad4a8f32"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_ptr.html">CLandmarksMapPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a4556c775a17bd26dc301f052f66edbba">landmarks_map2</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">mrpt::utils::TMatchingPairList</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a0c22d7201edd67179fa8ed54882a2c0c">correspondences</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">All the found correspondences (not consistent) <a href="#a0c22d7201edd67179fa8ed54882a2c0c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info_1_1_t_pair_plus_distance.html">TPairPlusDistance</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a1affe9954e18e21f1c21f68e8e4cc6af">correspondences_dists_maha</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Mahalanobis distance for each potential correspondence. <a href="#a1affe9954e18e21f1c21f68e8e4cc6af"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a375f502a6d23362d07ffdf86165bee9d">icp_goodness_all_sog_modes</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The ICP goodness of all potential SOG modes at the stage "sog2", thus before the removing of "bad" ICP matches. <a href="#a375f502a6d23362d07ffdf86165bee9d"></a><br/></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a01f7a98db4abaec8ec7ccaae29d21fd1"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TReturnInfo::TReturnInfo" ref="a01f7a98db4abaec8ec7ccaae29d21fd1" args="()" -->
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<td class="memname">mrpt::slam::CGridMapAligner::TReturnInfo::TReturnInfo </td>
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<td><code> [inline]</code></td>
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<p>Initialization. </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00154">154</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a60da3f0ff1107dddc5eef0d93705e8cd"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TReturnInfo::cbSize" ref="a60da3f0ff1107dddc5eef0d93705e8cd" args="" -->
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<td class="memname">size_t <a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a60da3f0ff1107dddc5eef0d93705e8cd">mrpt::slam::CGridMapAligner::TReturnInfo::cbSize</a></td>
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<p>Size of the structure, do not change, it's set automatically. </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00161">161</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">mrpt::utils::TMatchingPairList</a> <a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a0c22d7201edd67179fa8ed54882a2c0c">mrpt::slam::CGridMapAligner::TReturnInfo::correspondences</a></td>
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<p>All the found correspondences (not consistent) </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00185">185</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info_1_1_t_pair_plus_distance.html">TPairPlusDistance</a>> <a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a1affe9954e18e21f1c21f68e8e4cc6af">mrpt::slam::CGridMapAligner::TReturnInfo::correspondences_dists_maha</a></td>
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<p>Mahalanobis distance for each potential correspondence. </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00196">196</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
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<a class="anchor" id="a92a3289d3cfbc3edb732018162331623"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TReturnInfo::goodness" ref="a92a3289d3cfbc3edb732018162331623" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a92a3289d3cfbc3edb732018162331623">mrpt::slam::CGridMapAligner::TReturnInfo::goodness</a></td>
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<p>A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences. </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00165">165</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><double> <a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a375f502a6d23362d07ffdf86165bee9d">mrpt::slam::CGridMapAligner::TReturnInfo::icp_goodness_all_sog_modes</a></td>
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<p>The ICP goodness of all potential SOG modes at the stage "sog2", thus before the removing of "bad" ICP matches. </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00198">198</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
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<a class="anchor" id="afa27cb3ef9ec349d3a6612e6ad4a8f32"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map1" ref="afa27cb3ef9ec349d3a6612e6ad4a8f32" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_ptr.html">CLandmarksMapPtr</a> <a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#afa27cb3ef9ec349d3a6612e6ad4a8f32">mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map1</a></td>
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<p>The landmarks of each map (the indices of these landmarks correspond to those in "correspondences") </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00182">182</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
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<a class="anchor" id="a4556c775a17bd26dc301f052f66edbba"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map2" ref="a4556c775a17bd26dc301f052f66edbba" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_ptr.html">CLandmarksMapPtr</a> <a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a4556c775a17bd26dc301f052f66edbba">mrpt::slam::CGridMapAligner::TReturnInfo::landmarks_map2</a></td>
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<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00182">182</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
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<a class="anchor" id="a3cac5bdfdc82863b15200affcb0e32f5"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TReturnInfo::noRobustEstimation" ref="a3cac5bdfdc82863b15200affcb0e32f5" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> <a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a3cac5bdfdc82863b15200affcb0e32f5">mrpt::slam::CGridMapAligner::TReturnInfo::noRobustEstimation</a></td>
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<p>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). </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00169">169</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
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<a class="anchor" id="a89674e5c91a128af07fb838ef6b4ec0a"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TReturnInfo::sog1" ref="a89674e5c91a128af07fb838ef6b4ec0a" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_ptr.html">CPosePDFSOGPtr</a> <a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#a89674e5c91a128af07fb838ef6b4ec0a">mrpt::slam::CGridMapAligner::TReturnInfo::sog1</a></td>
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<p>The different SOG densities at different steps of the algorithm: </p>
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<li>sog1 : Directly from the matching of features</li>
<li>sog2 : Merged of sog1</li>
<li>sog3 : sog2 refined with ICP</li>
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<li>The final sog is the merge of sog3. </li>
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<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00179">179</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
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<a class="anchor" id="ac2af822868e62dd59c8c916a6de72629"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TReturnInfo::sog2" ref="ac2af822868e62dd59c8c916a6de72629" args="" -->
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<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00179">179</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
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<a class="anchor" id="adac1cea2f201fba375cc75e390bcad58"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TReturnInfo::sog3" ref="adac1cea2f201fba375cc75e390bcad58" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_ptr.html">CPosePDFSOGPtr</a> <a class="el" href="structmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_return_info.html#adac1cea2f201fba375cc75e390bcad58">mrpt::slam::CGridMapAligner::TReturnInfo::sog3</a></td>
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<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00179">179</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
