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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p.html">CICP</a> </li>
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<div class="title">mrpt::slam::CICP::TConfigParams Class Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::CICP::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>
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<p><code>#include <<a class="el" href="_c_i_c_p_8h_source.html">mrpt/slam/CICP.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CICP::TConfigParams:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params_inherit__map" id="mrpt_1_1slam_1_1_c_i_c_p_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="19,5,213,32"/></map>
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<p><a href="classmrpt_1_1slam_1_1_c_i_c_p_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_i_c_p_1_1_t_config_params.html#abdf932947272099848eee0d448c86ebb">TConfigParams</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initializer for default values: <a href="#abdf932947272099848eee0d448c86ebb"></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_i_c_p_1_1_t_config_params.html#aac6d7eea48efb0d4a2511849eba3edb8">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="#aac6d7eea48efb0d4a2511849eba3edb8"></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_i_c_p_1_1_t_config_params.html#a9ffd295418a953742dd2810863ef52c4">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="#a9ffd295418a953742dd2810863ef52c4"></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="group__mrpt__slam__grp.html#gaa571f1b2df97883ce80558fc43dc4844">TICPAlgorithm</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a30ee4c58a17f1e009562cd54854e3852">ICP_algorithm</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The algorithm to use (default: icpClassic) See <a href="http://www.mrpt.org/Scan_Matching_Algorithms">http://www.mrpt.org/Scan_Matching_Algorithms</a> for details. <a href="#a30ee4c58a17f1e009562cd54854e3852"></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_i_c_p_1_1_t_config_params.html#a7181cbefad7a413f25fd7f61de87c27a">onlyClosestCorrespondences</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The usual approach: to consider only the closest correspondence for each local point (Default to true) <a href="#a7181cbefad7a413f25fd7f61de87c27a"></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_i_c_p_1_1_t_config_params.html#a1d4124229edf4a6961a826357a0b79b5">onlyUniqueRobust</a></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_i_c_p_1_1_t_config_params.html#ad05dd941eeb43577c13e4f4a754f21a7">thresholdDist</a></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_i_c_p_1_1_t_config_params.html#a7594ba20fdc0771f641aa78cce9d3eb6">thresholdAng</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initial threshold distance for two points to become a correspondence. <a href="#a7594ba20fdc0771f641aa78cce9d3eb6"></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_i_c_p_1_1_t_config_params.html#aaa04254eb1b20ef8ad047235756f1e34">ALFA</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The scale factor for threshold everytime convergence is achieved. <a href="#aaa04254eb1b20ef8ad047235756f1e34"></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_i_c_p_1_1_t_config_params.html#a59f00ac67c0df05e9e17c836308dddb0">smallestThresholdDist</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The size for threshold such that iterations will stop, since it is considered precise enough. <a href="#a59f00ac67c0df05e9e17c836308dddb0"></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_i_c_p_1_1_t_config_params.html#ae07148a70cec484608db67cf7f69b37b">covariance_varPoints</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This is the normalization constant <img class="formulaInl" alt="$ \sigma^2_p $" src="form_113.png"/> that is used to scale the whole 3x3 covariance. <a href="#ae07148a70cec484608db67cf7f69b37b"></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_i_c_p_1_1_t_config_params.html#abe529e3103316441d8004e88b627d7f7">doRANSAC</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Perform a RANSAC step after the ICP convergence, to obtain a better estimation of the pose PDF. <a href="#abe529e3103316441d8004e88b627d7f7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ae3fa5fdce976d76f3999a39bbb42bab5">ransac_minSetSize</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">RANSAC-step options: <a href="#ae3fa5fdce976d76f3999a39bbb42bab5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ae7da7e94551af8807dfb65e654fc3242">ransac_maxSetSize</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#afbff9681d3b348bde47d242b0cd38077">ransac_nSimulations</a></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_i_c_p_1_1_t_config_params.html#ae778689bc165ed0f0d59b61df4706e0e">ransac_mahalanobisDistanceThreshold</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">RANSAC-step options: <a href="#ae778689bc165ed0f0d59b61df4706e0e"></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_i_c_p_1_1_t_config_params.html#a675cf4d424dca544e791261719f84dfe">normalizationStd</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">RANSAC-step option: The standard deviation in X,Y of landmarks/points which are being matched (used to compute covariances in the SoG) <a href="#a675cf4d424dca544e791261719f84dfe"></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_i_c_p_1_1_t_config_params.html#ac88ff848732872806962df9238d455c4">ransac_fuseByCorrsMatch</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">RANSAC-step options: <a href="#ac88ff848732872806962df9238d455c4"></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_i_c_p_1_1_t_config_params.html#a2fe7ef07476e7dbeb73ef590fe7209cb">ransac_fuseMaxDiffXY</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">RANSAC-step options: <a href="#a2fe7ef07476e7dbeb73ef590fe7209cb"></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_i_c_p_1_1_t_config_params.html#a45a855c3db2e30065ba9fc6edb54979d">ransac_fuseMaxDiffPhi</a></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_i_c_p_1_1_t_config_params.html#ad6baab9560352c9ef6d81a31ebb1aba4">kernel_rho</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0.07m). <a href="#ad6baab9560352c9ef6d81a31ebb1aba4"></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_i_c_p_1_1_t_config_params.html#ae33266da0d7f878bb34b24093a9361fc">use_kernel</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Whether to use kernel_rho to smooth distances, or use distances directly (default=true) <a href="#ae33266da0d7f878bb34b24093a9361fc"></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_i_c_p_1_1_t_config_params.html#a2f05fedb48ccd6310a2434008eba48d9">Axy_aprox_derivatives</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The size of the perturbance in x & y used to estimate the Jacobians of the square error (in LM & IKF methods, default=0.05). <a href="#a2f05fedb48ccd6310a2434008eba48d9"></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_i_c_p_1_1_t_config_params.html#ae6d663de769844bd32a7d90c3527ed12">LM_initial_lambda</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The initial value of the lambda parameter in the LM method (default=1e-4). <a href="#ae6d663de769844bd32a7d90c3527ed12"></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_i_c_p_1_1_t_config_params.html#a78cbda2bf51044b792d767c7a7b789d4">skip_cov_calculation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Skip the computation of the covariance (saves some time) (default=false) <a href="#a78cbda2bf51044b792d767c7a7b789d4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a3ec774b005bbb5ca3b91cc772025f6a1">corresponding_points_decimation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Decimation of the point cloud being registered against the reference one (default=5) - set to 1 to have the older (MRPT <0.9.5) behavior of not approximating ICP by ignoring the correspondence of some points. <a href="#a3ec774b005bbb5ca3b91cc772025f6a1"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Termination criteria</div></td></tr>
<tr><td colspan="2"><div class="groupText"><p>Apart of "onlyClosestCorrespondences=true", if this option is enabled only the closest correspondence for each reference point will be kept (default=false). </p>
</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a1e5d14bcea11e3a5d9202747d29dd132">maxIterations</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum number of iterations to run. <a href="#a1e5d14bcea11e3a5d9202747d29dd132"></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_i_c_p_1_1_t_config_params.html#a983a54786ac4b7eedde59917508c546c">minAbsStep_trans</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If the correction in all translation coordinates (X,Y,Z) is below this threshold (in meters), iterations are terminated (Default:1e-6) <a href="#a983a54786ac4b7eedde59917508c546c"></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_i_c_p_1_1_t_config_params.html#aea30b240c62c27d85fa01f8beae60106">minAbsStep_rot</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If the correction in all rotation coordinates (yaw,pitch,roll) is below this threshold (in radians), iterations are terminated (Default:1e-6) <a href="#aea30b240c62c27d85fa01f8beae60106"></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>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="abdf932947272099848eee0d448c86ebb"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::TConfigParams" ref="abdf932947272099848eee0d448c86ebb" args="()" -->
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<td class="memname">mrpt::slam::CICP::TConfigParams::TConfigParams </td>
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<p>Initializer for default values: </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::dumpToConsole" ref="a37c6d8d52b1d9bdacaf073e6910bdd7f" args="() const " -->
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<td class="memname">void mrpt::utils::CLoadableOptions::dumpToConsole </td>
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<td> const<code> [inherited]</code></td>
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<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>
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<a class="anchor" id="a9ffd295418a953742dd2810863ef52c4"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::dumpToTextStream" ref="a9ffd295418a953742dd2810863ef52c4" args="(CStream &out) const " -->
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<td class="memname">void mrpt::slam::CICP::TConfigParams::dumpToTextStream </td>
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<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>
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<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>
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<a class="anchor" id="a63837b199914f55d8f0bd950f598fe14"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::dumpVar_bool" ref="a63837b199914f55d8f0bd950f598fe14" args="(CStream &out, const char *varName, bool v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_bool </td>
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<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>
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<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>v</em> </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::dumpVar_double" ref="ac4ee21d250d3b3574790ceac343a27a9" args="(CStream &out, const char *varName, double v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_double </td>
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<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>v</em> </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="a18862f2d04fc18dd2c2662331156189f"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::dumpVar_float" ref="a18862f2d04fc18dd2c2662331156189f" args="(CStream &out, const char *varName, float v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_float </td>
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<td class="paramname"><em>out</em>, </td>
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<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>v</em> </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="a886e9903515fdb12d4f052a7fd582bb6"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::dumpVar_int" ref="a886e9903515fdb12d4f052a7fd582bb6" args="(CStream &out, const char *varName, int v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_int </td>
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<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>
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<td class="paramtype">const char * </td>
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<td class="paramtype">int </td>
<td class="paramname"><em>v</em> </td>
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<td></td><td><code> [static, protected, inherited]</code></td>
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<p>Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. </p>
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<a class="anchor" id="a60b1c6599953f1d593e6a7b0421e5a77"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::dumpVar_string" ref="a60b1c6599953f1d593e6a7b0421e5a77" args="(CStream &out, const char *varName, const std::string &v)" -->
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<td class="paramtype">const char * </td>
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<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>v</em> </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="aac6d7eea48efb0d4a2511849eba3edb8"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::loadFromConfigFile" ref="aac6d7eea48efb0d4a2511849eba3edb8" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::slam::CICP::TConfigParams::loadFromConfigFile </td>
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<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
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<td></td><td><code> [virtual]</code></td>
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<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>
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<a class="anchor" id="a1ce8e0f241fe85f78095e23d37b2b635"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::loadFromConfigFileName" ref="a1ce8e0f241fe85f78095e23d37b2b635" args="(const std::string &config_file, const std::string &section)" -->
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<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>
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<a class="anchor" id="a913c3433af4564cedeb25e24ace1cf28"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::saveToConfigFile" ref="a913c3433af4564cedeb25e24ace1cf28" args="(mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">virtual void mrpt::utils::CLoadableOptions::saveToConfigFile </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
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<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>
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<a class="anchor" id="aa059b0160ed9881c284bcea9a42c51f8"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::saveToConfigFileName" ref="aa059b0160ed9881c284bcea9a42c51f8" args="(const std::string &config_file, const std::string &section)" -->
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<td class="memname">void mrpt::utils::CLoadableOptions::saveToConfigFileName </td>
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<td class="paramname"><em>section</em> </td>
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<td></td><td><code> [inherited]</code></td>
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<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>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="aaa04254eb1b20ef8ad047235756f1e34"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::ALFA" ref="aaa04254eb1b20ef8ad047235756f1e34" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#aaa04254eb1b20ef8ad047235756f1e34">mrpt::slam::CICP::TConfigParams::ALFA</a></td>
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<p>The scale factor for threshold everytime convergence is achieved. </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00104">104</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a2f05fedb48ccd6310a2434008eba48d9">mrpt::slam::CICP::TConfigParams::Axy_aprox_derivatives</a></td>
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<p>The size of the perturbance in x & y used to estimate the Jacobians of the square error (in LM & IKF methods, default=0.05). </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00147">147</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<a class="anchor" id="a3ec774b005bbb5ca3b91cc772025f6a1"></a><!-- doxytag: member="mrpt::slam::CICP::TConfigParams::corresponding_points_decimation" ref="a3ec774b005bbb5ca3b91cc772025f6a1" args="" -->
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<td class="memname">uint32_t <a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a3ec774b005bbb5ca3b91cc772025f6a1">mrpt::slam::CICP::TConfigParams::corresponding_points_decimation</a></td>
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<p>Decimation of the point cloud being registered against the reference one (default=5) - set to 1 to have the older (MRPT <0.9.5) behavior of not approximating ICP by ignoring the correspondence of some points. </p>
<p>The speed-up comes from a decimation of the number of KD-tree queries, the most expensive step in ICP. </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00159">159</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>This is the normalization constant <img class="formulaInl" alt="$ \sigma^2_p $" src="form_113.png"/> that is used to scale the whole 3x3 covariance. </p>
<p>This has a default value of <img class="formulaInl" alt="$ (0.02)^2 $" src="form_114.png"/>, that is, a 2cm sigma. See the paper: .... </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00111">111</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>Perform a RANSAC step after the ICP convergence, to obtain a better estimation of the pose PDF. </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00113">113</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<td class="memname"><a class="el" href="group__mrpt__slam__grp.html#gaa571f1b2df97883ce80558fc43dc4844">TICPAlgorithm</a> <a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a30ee4c58a17f1e009562cd54854e3852">mrpt::slam::CICP::TConfigParams::ICP_algorithm</a></td>
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<p>The algorithm to use (default: icpClassic) See <a href="http://www.mrpt.org/Scan_Matching_Algorithms">http://www.mrpt.org/Scan_Matching_Algorithms</a> for details. </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00091">91</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0.07m). </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00141">141</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>The initial value of the lambda parameter in the LM method (default=1e-4). </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00150">150</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>Maximum number of iterations to run. </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00098">98</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>If the correction in all rotation coordinates (yaw,pitch,roll) is below this threshold (in radians), iterations are terminated (Default:1e-6) </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00100">100</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>If the correction in all translation coordinates (X,Y,Z) is below this threshold (in meters), iterations are terminated (Default:1e-6) </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00099">99</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>RANSAC-step option: The standard deviation in X,Y of landmarks/points which are being matched (used to compute covariances in the SoG) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>CICP::robustRigidTransformation </dd></dl>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00128">128</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>The usual approach: to consider only the closest correspondence for each local point (Default to true) </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00093">93</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00094">94</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>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_i_c_p_8h_source.html#l00133">133</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00138">138</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>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_i_c_p_8h_source.html#l00138">138</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>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_i_c_p_8h_source.html#l00123">123</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00118">118</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>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_i_c_p_8h_source.html#l00118">118</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00118">118</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>Skip the computation of the covariance (saves some time) (default=false) </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00153">153</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>The size for threshold such that iterations will stop, since it is considered precise enough. </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00105">105</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>Initial threshold distance for two points to become a correspondence. </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00103">103</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00103">103</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.h</a>.</p>
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<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ae33266da0d7f878bb34b24093a9361fc">mrpt::slam::CICP::TConfigParams::use_kernel</a></td>
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<p>Whether to use kernel_rho to smooth distances, or use distances directly (default=true) </p>
<p>Definition at line <a class="el" href="_c_i_c_p_8h_source.html#l00144">144</a> of file <a class="el" href="_c_i_c_p_8h_source.html">CICP.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>
