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

Detailed Description

The ICP algorithm configuration data.

Definition at line 78 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) MRPT_OVERRIDE
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream. 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=0.30) 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

CGridMapAligner::TConfigParams::TConfigParams ( )

Initializer for default values:

Definition at line 1038 of file CGridMapAligner.cpp.

Member Function Documentation

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

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

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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

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

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution = 0.10 // blah blah...
modeSelection = 1 // 0=blah, 1=blah,...
See also
loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.

Definition at line 1095 of file CGridMapAligner.cpp.

References debug_save_map_pairs, debug_show_corrs, featsPerSquareMeter, feature_descriptor, feature_detector_options, mrpt::vision::CFeatureExtraction::TOptions::loadFromConfigFile(), max_ICP_mahadist, maxKLd_for_merge, methodSelection, min_ICP_goodness, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_CAST, MRPT_LOAD_CONFIG_VAR_CAST_NO_DEFAULT, MRPT_LOAD_CONFIG_VAR_NO_DEFAULT, ransac_chi2_quantile, ransac_mahalanobisDistanceThreshold, ransac_minSetSizeRatio, ransac_prob_good_inliers, ransac_SOG_sigma_m, save_feat_coors, threshold_delta, and threshold_max.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions::loadFromConfigFile().

void 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

Definition at line 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams().

void CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtualinherited
void 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

Definition at line 39 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

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 120 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

bool mrpt::slam::CGridMapAligner::TConfigParams::debug_show_corrs

DEBUG - Show graphs with the details of each feature correspondences.

Definition at line 119 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

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

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

Definition at line 110 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

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 91 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

mrpt::vision::CFeatureExtraction::TOptions mrpt::slam::CGridMapAligner::TConfigParams::feature_detector_options

All the parameters for the feature detector.

Definition at line 94 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

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 115 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

double mrpt::slam::CGridMapAligner::TConfigParams::maxKLd_for_merge

Maximum KL-divergence for merging modes of the SOG (default=0.9)

Definition at line 116 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

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

The aligner method:

Definition at line 88 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

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=0.30)

Definition at line 114 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

double mrpt::slam::CGridMapAligner::TConfigParams::ransac_chi2_quantile

[amModifiedRANSAC method only] The quantile used for chi-square thresholding (default=0.99)

Definition at line 107 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

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

[amRobustMatch method only] RANSAC-step options:

See also
CICP::robustRigidTransformation

Definition at line 105 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

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 99 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

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 109 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::slam::CGridMapAligner::TConfigParams::ransac_SOG_sigma_m

The square root of the uncertainty normalization variance var_m (see papers...)

Definition at line 100 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

bool mrpt::slam::CGridMapAligner::TConfigParams::save_feat_coors

DEBUG - Dump all feature correspondences in a directory "grid_feats".

Definition at line 118 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

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 112 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

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 111 of file CGridMapAligner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().




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