<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>mrpt::slam::CGridMapAligner::TConfigParams Class Reference</title>
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
</head><body>
<div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div>
<div align="right">
<a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a>
</div>
<!-- Generated by Doxygen 1.7.5 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li class="current"><a href="annotated.html"><span>Classes</span></a></li>
<li><a href="files.html"><span>Files</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<div class="left">
<form id="FSearchBox" action="search.php" method="get">
<img id="MSearchSelect" src="search/mag.png" alt=""/>
<input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"/>
</form>
</div><div class="right"></div>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="annotated.html"><span>Class List</span></a></li>
<li><a href="classes.html"><span>Class Index</span></a></li>
<li><a href="inherits.html"><span>Class Hierarchy</span></a></li>
<li><a href="functions.html"><span>Class Members</span></a></li>
</ul>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1slam.html">slam</a> </li>
<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="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html">TConfigParams</a> </li>
</ul>
</div>
</div>
<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-attribs">Public Attributes</a> |
<a href="#pro-static-methods">Static Protected Member Functions</a> </div>
<div class="headertitle">
<div class="title">mrpt::slam::CGridMapAligner::TConfigParams Class Reference</div> </div>
</div>
<div class="contents">
<!-- doxytag: class="mrpt::slam::CGridMapAligner::TConfigParams" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>The ICP algorithm configuration data. </p>
</div>
<p><code>#include <<a class="el" href="_c_grid_map_aligner_8h_source.html">mrpt/slam/CGridMapAligner.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CGridMapAligner::TConfigParams:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params_inherit__map" id="mrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio..." alt="" coords="53,5,248,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params-members.html">List of all members.</a></p>
<table class="memberdecls">
<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="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#ac14f67660639688351ff96c0b20d3c5b">TConfigParams</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initializer for default values: <a href="#ac14f67660639688351ff96c0b20d3c5b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a416fc17e77d4c251083520dc39f04e26">loadFromConfigFile</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &source, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">utils::CLoadableOptions</a>. <a href="#a416fc17e77d4c251083520dc39f04e26"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a42bbac9652ff8cffba02d465f98f0091">dumpToTextStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">utils::CLoadableOptions</a>. <a href="#a42bbac9652ff8cffba02d465f98f0091"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a1ce8e0f241fe85f78095e23d37b2b635">loadFromConfigFileName</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &config_file, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to load the file. <a href="#a1ce8e0f241fe85f78095e23d37b2b635"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a913c3433af4564cedeb25e24ace1cf28">saveToConfigFile</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &source, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method saves the options to a ".ini"-like file or memory-stored string list. <a href="#a913c3433af4564cedeb25e24ace1cf28"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#aa059b0160ed9881c284bcea9a42c51f8">saveToConfigFileName</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &config_file, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Behaves like saveToConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to save the file. <a href="#aa059b0160ed9881c284bcea9a42c51f8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a37c6d8d52b1d9bdacaf073e6910bdd7f">dumpToConsole</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must display clearly all the contents of the structure in textual form, sending it to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a37c6d8d52b1d9bdacaf073e6910bdd7f"></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"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#ac1eb308374b6e0e5d661a10b6bb3e93a">TAlignerMethod</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#ad8f94de8131f6fb01681d6cc4b6f9476">methodSelection</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The aligner method: <a href="#ad8f94de8131f6fb01681d6cc4b6f9476"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__mrpt__vision__grp.html#ga1953f4dfcaf2e07e1049bc0a6bbf53ba">mrpt::vision::TDescriptorType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a1b30290c9876d55bb105353d830ae2af">feature_descriptor</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The feature descriptor to use: 0=detector already has descriptor, 1= SIFT, 2=SURF, 4=Spin images, 8=Polar images, 16=log-polar images. <a href="#a1b30290c9876d55bb105353d830ae2af"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#ac014abc9c14bece9edbdd67fb74e9e5b">feature_detector_options</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">All the parameters for the feature detector. <a href="#ac014abc9c14bece9edbdd67fb74e9e5b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a09d39c68beadf45c35ecd54c85bd7f58">ransac_minSetSizeRatio</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">RANSAC-step options: <a href="#a09d39c68beadf45c35ecd54c85bd7f58"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#af93d40f024ab2a6a3967e2654abaafe8">ransac_SOG_sigma_m</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The square root of the uncertainty normalization variance var_m (see papers...) <a href="#af93d40f024ab2a6a3967e2654abaafe8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#acfe34461d5e68afbe92919fc6a30cf0e">ransac_mahalanobisDistanceThreshold</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[amRobustMatch method only] RANSAC-step options: <a href="#acfe34461d5e68afbe92919fc6a30cf0e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a791645d46338d26a812a077bb4c97917">ransac_chi2_quantile</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[amModifiedRANSAC method only] The quantile used for chi-square thresholding (default=0.99) <a href="#a791645d46338d26a812a077bb4c97917"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#af0814e95069c4de51170bcd9748b45cb">ransac_prob_good_inliers</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Probability of having a good inliers (def:0,9999), used for automatic number of iterations. <a href="#af0814e95069c4de51170bcd9748b45cb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a71e0d86bb9f37a3144589af3b80f4ad3">featsPerSquareMeter</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Features extraction from grid map: How many features to extract. <a href="#a71e0d86bb9f37a3144589af3b80f4ad3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#ae7fdb02235064649b727e32374d84de5">threshold_max</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Correspondences are considered if their distances are below this threshold (in the range [0,1]) (default=0.15). <a href="#ae7fdb02235064649b727e32374d84de5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a02a95489a1db08fff7225464ed4c9391">threshold_delta</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Correspondences are considered if their distances to the best match are below this threshold (in the range [0,1]) (default=0.15). <a href="#a02a95489a1db08fff7225464ed4c9391"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#ad70683e36e5bd587db9f0de56493622f">min_ICP_goodness</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The minimum goodness (0-1) of the post-matching ICP to accept a hypothesis as good (default=0.25) <a href="#ad70683e36e5bd587db9f0de56493622f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a4e6cf9624c84b49c9c503b238862954b">max_ICP_mahadist</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The maximum Mahalanobis distance between the initial and final poses in the ICP not to discard the hypothesis (default=10) <a href="#a4e6cf9624c84b49c9c503b238862954b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a75747145e5f4a2160d8731f94f716644">maxKLd_for_merge</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum KL-divergence for merging modes of the SOG (default=0.9) <a href="#a75747145e5f4a2160d8731f94f716644"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a45c4c430955098bd60fb4a8be831eba2">save_feat_coors</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">DEBUG - Dump all feature correspondences in a directory "grid_feats". <a href="#a45c4c430955098bd60fb4a8be831eba2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a7ace545d299fbf283091d35404e33bfd">debug_show_corrs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">DEBUG - Show graphs with the details of each feature correspondences. <a href="#a7ace545d299fbf283091d35404e33bfd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a6a282417f261da377260a3c3a4be5b05">debug_save_map_pairs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">DEBUG - Save the pair of maps with all the pairings. <a href="#a6a282417f261da377260a3c3a4be5b05"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-static-methods"></a>
Static Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a886e9903515fdb12d4f052a7fd582bb6">dumpVar_int</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, int v)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. <a href="#a886e9903515fdb12d4f052a7fd582bb6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a18862f2d04fc18dd2c2662331156189f">dumpVar_float</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, float v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ac4ee21d250d3b3574790ceac343a27a9">dumpVar_double</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, double v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a63837b199914f55d8f0bd950f598fe14">dumpVar_bool</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, bool v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a60b1c6599953f1d593e6a7b0421e5a77">dumpVar_string</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, const <a class="el" href="classstd_1_1string.html">std::string</a> &v)</td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ac14f67660639688351ff96c0b20d3c5b"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::TConfigParams" ref="ac14f67660639688351ff96c0b20d3c5b" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::slam::CGridMapAligner::TConfigParams::TConfigParams </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Initializer for default values: </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::dumpToConsole" ref="a37c6d8d52b1d9bdacaf073e6910bdd7f" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CLoadableOptions::dumpToConsole </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>This method must display clearly all the contents of the structure in textual form, sending it to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
</div>
</div>
<a class="anchor" id="a42bbac9652ff8cffba02d465f98f0091"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream" ref="a42bbac9652ff8cffba02d465f98f0091" args="(CStream &out) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">utils::CLoadableOptions</a>. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#adbe314b74deedfe953290ebf48750883">mrpt::utils::CLoadableOptions</a>.</p>
</div>
</div>
<a class="anchor" id="a63837b199914f55d8f0bd950f598fe14"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::dumpVar_bool" ref="a63837b199914f55d8f0bd950f598fe14" args="(CStream &out, const char *varName, bool v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_bool </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::dumpVar_double" ref="ac4ee21d250d3b3574790ceac343a27a9" args="(CStream &out, const char *varName, double v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_double </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a18862f2d04fc18dd2c2662331156189f"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::dumpVar_float" ref="a18862f2d04fc18dd2c2662331156189f" args="(CStream &out, const char *varName, float v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_float </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a886e9903515fdb12d4f052a7fd582bb6"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::dumpVar_int" ref="a886e9903515fdb12d4f052a7fd582bb6" args="(CStream &out, const char *varName, int v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_int </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. </p>
</div>
</div>
<a class="anchor" id="a60b1c6599953f1d593e6a7b0421e5a77"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::dumpVar_string" ref="a60b1c6599953f1d593e6a7b0421e5a77" args="(CStream &out, const char *varName, const std::string &v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_string </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a416fc17e77d4c251083520dc39f04e26"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile" ref="a416fc17e77d4c251083520dc39f04e26" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"><em>source</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">utils::CLoadableOptions</a>. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2">mrpt::utils::CLoadableOptions</a>.</p>
</div>
</div>
<a class="anchor" id="a1ce8e0f241fe85f78095e23d37b2b635"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFileName" ref="a1ce8e0f241fe85f78095e23d37b2b635" args="(const std::string &config_file, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CLoadableOptions::loadFromConfigFileName </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>config_file</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to load the file. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2" title="This method load the options from a ".ini"-like file or memory-stored string list.">loadFromConfigFile</a> </dd></dl>
</div>
</div>
<a class="anchor" id="a913c3433af4564cedeb25e24ace1cf28"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::saveToConfigFile" ref="a913c3433af4564cedeb25e24ace1cf28" args="(mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CLoadableOptions::saveToConfigFile </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"><em>source</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>This method saves the options to a ".ini"-like file or memory-stored string list. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2" title="This method load the options from a ".ini"-like file or memory-stored string list.">loadFromConfigFile</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#aa059b0160ed9881c284bcea9a42c51f8" title="Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile obje...">saveToConfigFileName</a> </dd></dl>
<p>Reimplemented in <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html#ab41c594d4e248ace4a2b6c7e4d082a1c">mrpt::vision::TMultiResDescOptions</a>, and <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html#a0ddc0e48338f1c420ed1e9a34d106865">mrpt::vision::TMultiResDescMatchOptions</a>.</p>
<p>Definition at line <a class="el" href="_c_loadable_options_8h_source.html#l00087">87</a> of file <a class="el" href="_c_loadable_options_8h_source.html">CLoadableOptions.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>.</p>
</div>
</div>
<a class="anchor" id="aa059b0160ed9881c284bcea9a42c51f8"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::saveToConfigFileName" ref="aa059b0160ed9881c284bcea9a42c51f8" args="(const std::string &config_file, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CLoadableOptions::saveToConfigFileName </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>config_file</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Behaves like saveToConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to save the file. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a913c3433af4564cedeb25e24ace1cf28" title="This method saves the options to a ".ini"-like file or memory-stored string list.">saveToConfigFile</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a1ce8e0f241fe85f78095e23d37b2b635" title="Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile ob...">loadFromConfigFileName</a> </dd></dl>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a6a282417f261da377260a3c3a4be5b05"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::debug_save_map_pairs" ref="a6a282417f261da377260a3c3a4be5b05" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a6a282417f261da377260a3c3a4be5b05">mrpt::slam::CGridMapAligner::TConfigParams::debug_save_map_pairs</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>DEBUG - Save the pair of maps with all the pairings. </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00144">144</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="a7ace545d299fbf283091d35404e33bfd"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::debug_show_corrs" ref="a7ace545d299fbf283091d35404e33bfd" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a7ace545d299fbf283091d35404e33bfd">mrpt::slam::CGridMapAligner::TConfigParams::debug_show_corrs</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>DEBUG - Show graphs with the details of each feature correspondences. </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00143">143</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="a71e0d86bb9f37a3144589af3b80f4ad3"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::featsPerSquareMeter" ref="a71e0d86bb9f37a3144589af3b80f4ad3" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a71e0d86bb9f37a3144589af3b80f4ad3">mrpt::slam::CGridMapAligner::TConfigParams::featsPerSquareMeter</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Features extraction from grid map: How many features to extract. </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00134">134</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="a1b30290c9876d55bb105353d830ae2af"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::feature_descriptor" ref="a1b30290c9876d55bb105353d830ae2af" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="group__mrpt__vision__grp.html#ga1953f4dfcaf2e07e1049bc0a6bbf53ba">mrpt::vision::TDescriptorType</a> <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a1b30290c9876d55bb105353d830ae2af">mrpt::slam::CGridMapAligner::TConfigParams::feature_descriptor</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The feature descriptor to use: 0=detector already has descriptor, 1= SIFT, 2=SURF, 4=Spin images, 8=Polar images, 16=log-polar images. </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00115">115</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="ac014abc9c14bece9edbdd67fb74e9e5b"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::feature_detector_options" ref="ac014abc9c14bece9edbdd67fb74e9e5b" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a> <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#ac014abc9c14bece9edbdd67fb74e9e5b">mrpt::slam::CGridMapAligner::TConfigParams::feature_detector_options</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>All the parameters for the feature detector. </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00118">118</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="a4e6cf9624c84b49c9c503b238862954b"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::max_ICP_mahadist" ref="a4e6cf9624c84b49c9c503b238862954b" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a4e6cf9624c84b49c9c503b238862954b">mrpt::slam::CGridMapAligner::TConfigParams::max_ICP_mahadist</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The maximum Mahalanobis distance between the initial and final poses in the ICP not to discard the hypothesis (default=10) </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00139">139</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="a75747145e5f4a2160d8731f94f716644"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::maxKLd_for_merge" ref="a75747145e5f4a2160d8731f94f716644" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a75747145e5f4a2160d8731f94f716644">mrpt::slam::CGridMapAligner::TConfigParams::maxKLd_for_merge</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Maximum KL-divergence for merging modes of the SOG (default=0.9) </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00140">140</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="ad8f94de8131f6fb01681d6cc4b6f9476"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::methodSelection" ref="ad8f94de8131f6fb01681d6cc4b6f9476" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner.html#ac1eb308374b6e0e5d661a10b6bb3e93a">TAlignerMethod</a> <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#ad8f94de8131f6fb01681d6cc4b6f9476">mrpt::slam::CGridMapAligner::TConfigParams::methodSelection</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The aligner method: </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00112">112</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="ad70683e36e5bd587db9f0de56493622f"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::min_ICP_goodness" ref="ad70683e36e5bd587db9f0de56493622f" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#ad70683e36e5bd587db9f0de56493622f">mrpt::slam::CGridMapAligner::TConfigParams::min_ICP_goodness</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The minimum goodness (0-1) of the post-matching ICP to accept a hypothesis as good (default=0.25) </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00138">138</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="a791645d46338d26a812a077bb4c97917"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::ransac_chi2_quantile" ref="a791645d46338d26a812a077bb4c97917" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a791645d46338d26a812a077bb4c97917">mrpt::slam::CGridMapAligner::TConfigParams::ransac_chi2_quantile</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>[amModifiedRANSAC method only] The quantile used for chi-square thresholding (default=0.99) </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00131">131</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="acfe34461d5e68afbe92919fc6a30cf0e"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::ransac_mahalanobisDistanceThreshold" ref="acfe34461d5e68afbe92919fc6a30cf0e" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#acfe34461d5e68afbe92919fc6a30cf0e">mrpt::slam::CGridMapAligner::TConfigParams::ransac_mahalanobisDistanceThreshold</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>[amRobustMatch method only] RANSAC-step options: </p>
<dl class="see"><dt><b>See also:</b></dt><dd>CICP::robustRigidTransformation </dd></dl>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00129">129</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="a09d39c68beadf45c35ecd54c85bd7f58"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::ransac_minSetSizeRatio" ref="a09d39c68beadf45c35ecd54c85bd7f58" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a09d39c68beadf45c35ecd54c85bd7f58">mrpt::slam::CGridMapAligner::TConfigParams::ransac_minSetSizeRatio</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>RANSAC-step options: </p>
<dl class="see"><dt><b>See also:</b></dt><dd>CICP::robustRigidTransformation The ratio of landmarks that must be inliers to accepto an hypotheses (typ: 0.20) </dd></dl>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00123">123</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="af0814e95069c4de51170bcd9748b45cb"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::ransac_prob_good_inliers" ref="af0814e95069c4de51170bcd9748b45cb" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#af0814e95069c4de51170bcd9748b45cb">mrpt::slam::CGridMapAligner::TConfigParams::ransac_prob_good_inliers</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Probability of having a good inliers (def:0,9999), used for automatic number of iterations. </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00133">133</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="af93d40f024ab2a6a3967e2654abaafe8"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::ransac_SOG_sigma_m" ref="af93d40f024ab2a6a3967e2654abaafe8" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#af93d40f024ab2a6a3967e2654abaafe8">mrpt::slam::CGridMapAligner::TConfigParams::ransac_SOG_sigma_m</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The square root of the uncertainty normalization variance var_m (see papers...) </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00124">124</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="a45c4c430955098bd60fb4a8be831eba2"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::save_feat_coors" ref="a45c4c430955098bd60fb4a8be831eba2" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a45c4c430955098bd60fb4a8be831eba2">mrpt::slam::CGridMapAligner::TConfigParams::save_feat_coors</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>DEBUG - Dump all feature correspondences in a directory "grid_feats". </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00142">142</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="a02a95489a1db08fff7225464ed4c9391"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::threshold_delta" ref="a02a95489a1db08fff7225464ed4c9391" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#a02a95489a1db08fff7225464ed4c9391">mrpt::slam::CGridMapAligner::TConfigParams::threshold_delta</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Correspondences are considered if their distances to the best match are below this threshold (in the range [0,1]) (default=0.15). </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00136">136</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
<a class="anchor" id="ae7fdb02235064649b727e32374d84de5"></a><!-- doxytag: member="mrpt::slam::CGridMapAligner::TConfigParams::threshold_max" ref="ae7fdb02235064649b727e32374d84de5" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_grid_map_aligner_1_1_t_config_params.html#ae7fdb02235064649b727e32374d84de5">mrpt::slam::CGridMapAligner::TConfigParams::threshold_max</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Correspondences are considered if their distances are below this threshold (in the range [0,1]) (default=0.15). </p>
<p>Definition at line <a class="el" href="_c_grid_map_aligner_8h_source.html#l00135">135</a> of file <a class="el" href="_c_grid_map_aligner_8h_source.html">CGridMapAligner.h</a>.</p>
</div>
</div>
</div>
<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>
