Detailed Description

With this struct options are provided to the observation insertion process.

#include <mrpt/slam/CLandmarksMap.h>

Inheritance diagram for mrpt::slam::CLandmarksMap::TInsertionOptions:

Public Member Functions
	TInsertionOptions ()
	Initilization of default parameters.
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
bool	insert_SIFTs_from_monocular_images
	If set to true (default), the insertion of a CObservationImage in the map will insert SIFT 3D features.
bool	insert_SIFTs_from_stereo_images
	If set to true (default), the insertion of a CObservationStereoImages in the map will insert SIFT 3D features.
bool	insert_Landmarks_from_range_scans
	If set to true (default), inserting a CObservation2DRangeScan in the map will generate landmarks for each range.
float	SiftCorrRatioThreshold
	[For SIFT landmarks only] The ratio between the best and second best descriptor distances to set as correspondence (Default=0.4)
float	SiftLikelihoodThreshold
	[For SIFT landmarks only] The minimum likelihood value of a match to set as correspondence (Default=0.5)
float	SiftEDDThreshold
	[For SIFT landmarks only] The minimum Euclidean Descriptor Distance value of a match to set as correspondence (Default=200)
unsigned int	SIFTMatching3DMethod
	[For SIFT landmarks only] Method to compute 3D matching (Default = 0 (Our method)) 0: Our method -> Euclidean Distance between Descriptors and 3D position 1: Sim, Elinas, Griffin, Little -> Euclidean Distance between Descriptors
unsigned int	SIFTLikelihoodMethod
	[For SIFT landmarks only] Method to compute the likelihood (Default = 0 (Our method)) 0: Our method -> Euclidean Distance between Descriptors and 3D position 1: Sim, Elinas, Griffin, Little -> 3D position
float	SIFTsLoadDistanceOfTheMean
	[For SIFT landmarks only] The distance (in meters) of the mean value of landmarks, for the initial position PDF (Default = 3m)
float	SIFTsLoadEllipsoidWidth
	[For SIFT landmarks only] The width (in meters, standard deviation) of the ellipsoid in the axis perpendicular to the main directiom (Default = 0.05f)
float	SIFTs_stdXY
	[For SIFT landmarks only] The standard deviation (in pixels) for the SIFTs detector (This is used for the Jacobbian to project stereo images to 3D)
float	SIFTs_stdDisparity
int	SIFTs_numberOfKLTKeypoints
	Number of points to extract in the image.
float	SIFTs_stereo_maxDepth
	Maximum depth of 3D landmarks when loading a landmarks map from a stereo image observation.
float	SIFTs_epipolar_TH
	Maximum distance (in pixels) from a point to a certain epipolar line to be considered a potential match.
bool	PLOT_IMAGES
	Indicates if the images (as well as the SIFT detected features) should be shown in a window.
mrpt::vision::CFeatureExtraction::TOptions	SIFT_feat_options
	Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map.
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::CLandmarksMap::TInsertionOptions::TInsertionOptions ( )

Initilization of default parameters.

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::CLandmarksMap::TInsertionOptions::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::CLandmarksMap::TInsertionOptions::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.

See also:: saveToConfigFile, loadFromConfigFileName

Member Data Documentation

bool mrpt::slam::CLandmarksMap::TInsertionOptions::insert_Landmarks_from_range_scans

If set to true (default), inserting a CObservation2DRangeScan in the map will generate landmarks for each range.

Definition at line 237 of file CLandmarksMap.h.

bool mrpt::slam::CLandmarksMap::TInsertionOptions::insert_SIFTs_from_monocular_images

If set to true (default), the insertion of a CObservationImage in the map will insert SIFT 3D features.

Definition at line 229 of file CLandmarksMap.h.

bool mrpt::slam::CLandmarksMap::TInsertionOptions::insert_SIFTs_from_stereo_images

If set to true (default), the insertion of a CObservationStereoImages in the map will insert SIFT 3D features.

Definition at line 233 of file CLandmarksMap.h.

bool mrpt::slam::CLandmarksMap::TInsertionOptions::PLOT_IMAGES

Indicates if the images (as well as the SIFT detected features) should be shown in a window.

Definition at line 292 of file CLandmarksMap.h.

mrpt::vision::CFeatureExtraction::TOptions mrpt::slam::CLandmarksMap::TInsertionOptions::SIFT_feat_options

Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map.

Note:: There exists another SIFT_feat_options field in the likelihoodOptions member.; All parameters of this field can be loaded from a config file. See mrpt::vision::CFeatureExtraction::TOptions for the names of the expected fields.

Definition at line 298 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TInsertionOptions::SiftCorrRatioThreshold

[For SIFT landmarks only] The ratio between the best and second best descriptor distances to set as correspondence (Default=0.4)

Definition at line 241 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TInsertionOptions::SiftEDDThreshold

[For SIFT landmarks only] The minimum Euclidean Descriptor Distance value of a match to set as correspondence (Default=200)

Definition at line 250 of file CLandmarksMap.h.

unsigned int mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTLikelihoodMethod

[For SIFT landmarks only] Method to compute the likelihood (Default = 0 (Our method)) 0: Our method -> Euclidean Distance between Descriptors and 3D position 1: Sim, Elinas, Griffin, Little -> 3D position

Definition at line 262 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TInsertionOptions::SiftLikelihoodThreshold

[For SIFT landmarks only] The minimum likelihood value of a match to set as correspondence (Default=0.5)

Definition at line 245 of file CLandmarksMap.h.

unsigned int mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTMatching3DMethod

[For SIFT landmarks only] Method to compute 3D matching (Default = 0 (Our method)) 0: Our method -> Euclidean Distance between Descriptors and 3D position 1: Sim, Elinas, Griffin, Little -> Euclidean Distance between Descriptors

Definition at line 256 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_epipolar_TH

Maximum distance (in pixels) from a point to a certain epipolar line to be considered a potential match.

Definition at line 288 of file CLandmarksMap.h.

int mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_numberOfKLTKeypoints

Number of points to extract in the image.

Definition at line 280 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_stdDisparity

Definition at line 276 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_stdXY

[For SIFT landmarks only] The standard deviation (in pixels) for the SIFTs detector (This is used for the Jacobbian to project stereo images to 3D)

Definition at line 276 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_stereo_maxDepth

Maximum depth of 3D landmarks when loading a landmarks map from a stereo image observation.

Definition at line 284 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTsLoadDistanceOfTheMean

[For SIFT landmarks only] The distance (in meters) of the mean value of landmarks, for the initial position PDF (Default = 3m)

Definition at line 268 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTsLoadEllipsoidWidth

[For SIFT landmarks only] The width (in meters, standard deviation) of the ellipsoid in the axis perpendicular to the main directiom (Default = 0.05f)

Definition at line 272 of file CLandmarksMap.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation