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mrpt::slam::CGridMapAligner::TConfigParams Class Reference

Detailed Description

The ICP algorithm configuration data.

Definition at line 77 of file CGridMapAligner.h.

#include <mrpt/slam/CGridMapAligner.h>

Inheritance diagram for mrpt::slam::CGridMapAligner::TConfigParams:
Inheritance graph

Public Member Functions

 TConfigParams ()
 Initializer for default values: More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 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 &section)
 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 &section) 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 &section) 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)
 

Constructor & Destructor Documentation

mrpt::slam::CGridMapAligner::TConfigParams::TConfigParams ( )

Initializer for default values:

Member Function Documentation

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

void mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream ( mrpt::utils::CStream out) const
virtual
static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited
void mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)
virtual
void mrpt::utils::CLoadableOptions::loadFromConfigFileName ( const std::string &  config_file,
const std::string &  section 
)
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.

See also
loadFromConfigFile
virtual void mrpt::utils::CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string &  section 
) const
virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.

void mrpt::utils::CLoadableOptions::saveToConfigFileName ( const std::string &  config_file,
const std::string &  section 
) const
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.

See also
saveToConfigFile, loadFromConfigFileName

Member Data Documentation

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:

See also
CICP::robustRigidTransformation

Definition at line 112 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::TConfigParams::ransac_minSetSizeRatio

RANSAC-step options:

See also
CICP::robustRigidTransformationThe ratio of landmarks that must be inliers to accepto an hypotheses (typ: 0.20)

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.




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