Detailed Description

The ICP algorithm configuration data.

Definition at line 94 of file CGridMapAligner.h.

#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
	)

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

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
	)

inlinevirtualinherited

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::CGridMapAligner::TConfigParams::debug_save_map_pairs

DEBUG - Save the pair of maps with all the pairings.

Definition at line 144 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 143 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::TConfigParams::featsPerSquareMeter

Features extraction from grid map: How many features to extract.

Definition at line 134 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 115 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 118 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 139 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 140 of file CGridMapAligner.h.

TAlignerMethod mrpt::slam::CGridMapAligner::TConfigParams::methodSelection

The aligner method:

Definition at line 112 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 138 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 131 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::TConfigParams::ransac_mahalanobisDistanceThreshold

[amRobustMatch method only] RANSAC-step options:

See Also: CICP::robustRigidTransformation

Definition at line 129 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 123 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 133 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 124 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 142 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 136 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 135 of file CGridMapAligner.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation