Detailed Description

The ICP algorithm configuration data.

#include <mrpt/slam/CGridMapAligner.h>

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

Public Member Functions
	TConfigParams ()
	Initializer for default values:
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.
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.
virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &source, const std::string &section)
	This method saves the options to a ".ini"-like file or memory-stored string list.
void	saveToConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
void	dumpToConsole () const
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
Public Attributes
TAlignerMethod	methodSelection
	The aligner method:
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.
mrpt::vision::CFeatureExtraction::TOptions	feature_detector_options
	All the parameters for the feature detector.
float	ransac_minSetSizeRatio
	RANSAC-step options:
float	ransac_SOG_sigma_m
	The square root of the uncertainty normalization variance var_m (see papers...)
float	ransac_mahalanobisDistanceThreshold
	[amRobustMatch method only] RANSAC-step options:
double	ransac_chi2_quantile
	[amModifiedRANSAC method only] The quantile used for chi-square thresholding (default=0.99)
double	ransac_prob_good_inliers
	Probability of having a good inliers (def:0,9999), used for automatic number of iterations.
float	featsPerSquareMeter
	Features extraction from grid map: How many features to extract.
float	threshold_max
	Correspondences are considered if their distances are below this threshold (in the range [0,1]) (default=0.15).
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).
float	min_ICP_goodness
	The minimum goodness (0-1) of the post-matching ICP to accept a hypothesis as good (default=0.25)
double	max_ICP_mahadist
	The maximum Mahalanobis distance between the initial and final poses in the ICP not to discard the hypothesis (default=10)
double	maxKLd_for_merge
	Maximum KL-divergence for merging modes of the SOG (default=0.9)
bool	save_feat_coors
	DEBUG - Dump all feature correspondences in a directory "grid_feats".
bool	debug_show_corrs
	DEBUG - Show graphs with the details of each feature correspondences.
bool	debug_save_map_pairs
	DEBUG - Save the pair of maps with all the pairings.
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.
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]

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

void mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream ( CStream & out ) const [virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

static void mrpt::utils::CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)		`[static, protected, inherited]`

static void mrpt::utils::CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)		`[static, protected, inherited]`

static void mrpt::utils::CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)		`[static, protected, inherited]`

static void mrpt::utils::CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)		`[static, protected, inherited]`

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
	)		`[static, protected, inherited]`

void mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		`[virtual]`

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

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 &	source,
		const std::string &	section
	)		`[inline, virtual, inherited]`

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

See also:: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, and mrpt::vision::TMultiResDescMatchOptions.

Definition at line 87 of file CLoadableOptions.h.

References THROW_EXCEPTION.

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