The ICP algorithm configuration data.
Definition at line 77 of file CGridMapAligner.h.
#include <mrpt/slam/CGridMapAligner.h>
Public Member Functions | |
TConfigParams () | |
Initializer for default values: More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const |
See utils::CLoadableOptions. More... | |
void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More... | |
virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string §ion) const |
This method saves the options to a ".ini"-like file or memory-stored string list. More... | |
void | saveToConfigFileName (const std::string &config_file, const std::string §ion) const |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More... | |
void | dumpToConsole () const |
Just like dumpToTextStream() but sending the text to the console (std::cout) More... | |
Public Attributes | |
TAlignerMethod | methodSelection |
The aligner method: More... | |
mrpt::vision::TDescriptorType | feature_descriptor |
The feature descriptor to use: 0=detector already has descriptor, 1= SIFT, 2=SURF, 4=Spin images, 8=Polar images, 16=log-polar images. More... | |
mrpt::vision::CFeatureExtraction::TOptions | feature_detector_options |
All the parameters for the feature detector. More... | |
float | ransac_minSetSizeRatio |
RANSAC-step options: More... | |
float | ransac_SOG_sigma_m |
The square root of the uncertainty normalization variance var_m (see papers...) More... | |
float | ransac_mahalanobisDistanceThreshold |
[amRobustMatch method only] RANSAC-step options: More... | |
double | ransac_chi2_quantile |
[amModifiedRANSAC method only] The quantile used for chi-square thresholding (default=0.99) More... | |
double | ransac_prob_good_inliers |
Probability of having a good inliers (def:0,9999), used for automatic number of iterations. More... | |
float | featsPerSquareMeter |
Features extraction from grid map: How many features to extract. More... | |
float | threshold_max |
Correspondences are considered if their distances are below this threshold (in the range [0,1]) (default=0.15). More... | |
float | threshold_delta |
Correspondences are considered if their distances to the best match are below this threshold (in the range [0,1]) (default=0.15). More... | |
float | min_ICP_goodness |
The minimum goodness (0-1) of the post-matching ICP to accept a hypothesis as good (default=0.25) More... | |
double | max_ICP_mahadist |
The maximum Mahalanobis distance between the initial and final poses in the ICP not to discard the hypothesis (default=10) More... | |
double | maxKLd_for_merge |
Maximum KL-divergence for merging modes of the SOG (default=0.9) More... | |
bool | save_feat_coors |
DEBUG - Dump all feature correspondences in a directory "grid_feats". More... | |
bool | debug_show_corrs |
DEBUG - Show graphs with the details of each feature correspondences. More... | |
bool | debug_save_map_pairs |
DEBUG - Save the pair of maps with all the pairings. More... | |
Static Protected Member Functions | |
static void | dumpVar_int (CStream &out, const char *varName, int v) |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More... | |
static void | dumpVar_float (CStream &out, const char *varName, float v) |
static void | dumpVar_double (CStream &out, const char *varName, double v) |
static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
mrpt::slam::CGridMapAligner::TConfigParams::TConfigParams | ( | ) |
Initializer for default values:
|
inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
|
virtual |
Reimplemented from mrpt::utils::CLoadableOptions.
|
staticprotectedinherited |
|
staticprotectedinherited |
|
staticprotectedinherited |
|
staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
|
staticprotectedinherited |
|
virtual |
Implements mrpt::utils::CLoadableOptions.
|
inherited |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
|
virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.
|
inherited |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
bool mrpt::slam::CGridMapAligner::TConfigParams::debug_save_map_pairs |
DEBUG - Save the pair of maps with all the pairings.
Definition at line 127 of file CGridMapAligner.h.
bool mrpt::slam::CGridMapAligner::TConfigParams::debug_show_corrs |
DEBUG - Show graphs with the details of each feature correspondences.
Definition at line 126 of file CGridMapAligner.h.
float mrpt::slam::CGridMapAligner::TConfigParams::featsPerSquareMeter |
Features extraction from grid map: How many features to extract.
Definition at line 117 of file CGridMapAligner.h.
mrpt::vision::TDescriptorType mrpt::slam::CGridMapAligner::TConfigParams::feature_descriptor |
The feature descriptor to use: 0=detector already has descriptor, 1= SIFT, 2=SURF, 4=Spin images, 8=Polar images, 16=log-polar images.
Definition at line 98 of file CGridMapAligner.h.
mrpt::vision::CFeatureExtraction::TOptions mrpt::slam::CGridMapAligner::TConfigParams::feature_detector_options |
All the parameters for the feature detector.
Definition at line 101 of file CGridMapAligner.h.
double mrpt::slam::CGridMapAligner::TConfigParams::max_ICP_mahadist |
The maximum Mahalanobis distance between the initial and final poses in the ICP not to discard the hypothesis (default=10)
Definition at line 122 of file CGridMapAligner.h.
double mrpt::slam::CGridMapAligner::TConfigParams::maxKLd_for_merge |
Maximum KL-divergence for merging modes of the SOG (default=0.9)
Definition at line 123 of file CGridMapAligner.h.
TAlignerMethod mrpt::slam::CGridMapAligner::TConfigParams::methodSelection |
The aligner method:
Definition at line 95 of file CGridMapAligner.h.
float mrpt::slam::CGridMapAligner::TConfigParams::min_ICP_goodness |
The minimum goodness (0-1) of the post-matching ICP to accept a hypothesis as good (default=0.25)
Definition at line 121 of file CGridMapAligner.h.
double mrpt::slam::CGridMapAligner::TConfigParams::ransac_chi2_quantile |
[amModifiedRANSAC method only] The quantile used for chi-square thresholding (default=0.99)
Definition at line 114 of file CGridMapAligner.h.
float mrpt::slam::CGridMapAligner::TConfigParams::ransac_mahalanobisDistanceThreshold |
[amRobustMatch method only] RANSAC-step options:
Definition at line 112 of file CGridMapAligner.h.
float mrpt::slam::CGridMapAligner::TConfigParams::ransac_minSetSizeRatio |
RANSAC-step options:
Definition at line 106 of file CGridMapAligner.h.
double mrpt::slam::CGridMapAligner::TConfigParams::ransac_prob_good_inliers |
Probability of having a good inliers (def:0,9999), used for automatic number of iterations.
Definition at line 116 of file CGridMapAligner.h.
float mrpt::slam::CGridMapAligner::TConfigParams::ransac_SOG_sigma_m |
The square root of the uncertainty normalization variance var_m (see papers...)
Definition at line 107 of file CGridMapAligner.h.
bool mrpt::slam::CGridMapAligner::TConfigParams::save_feat_coors |
DEBUG - Dump all feature correspondences in a directory "grid_feats".
Definition at line 125 of file CGridMapAligner.h.
float mrpt::slam::CGridMapAligner::TConfigParams::threshold_delta |
Correspondences are considered if their distances to the best match are below this threshold (in the range [0,1]) (default=0.15).
Definition at line 119 of file CGridMapAligner.h.
float mrpt::slam::CGridMapAligner::TConfigParams::threshold_max |
Correspondences are considered if their distances are below this threshold (in the range [0,1]) (default=0.15).
Definition at line 118 of file CGridMapAligner.h.
Page generated by Doxygen 1.8.12 for MRPT 1.3.2 SVN: at Thu Nov 10 13:22:34 UTC 2016 |