struct mrpt::graphslam::deciders::CLoopCloserERD::TLoopClosureParams

Overview

Struct for storing together the loop-closing related parameters.

#include <mrpt/graphslam/ERD/CLoopCloserERD.h>

struct TLoopClosureParams: public mrpt::config::CLoadableOptions
{
    // fields

    bool LC_check_curr_partition_only;
    size_t LC_min_nodeid_diff;
    double LC_eigenvalues_ratio_thresh;
    int LC_min_remote_nodes;
    int full_partition_per_nodes;
    bool visualize_map_partitions;
    std::string keystroke_map_partitions;
    double offset_y_map_partitions;
    int text_index_map_partitions;
    const double balloon_elevation {3};
    const double balloon_radius {0.5};
    const mrpt::img::TColor balloon_std_color;
    const mrpt::img::TColor balloon_curr_color;
    const mrpt::img::TColor connecting_lines_color;
    bool has_read_config {false};

    // construction

    TLoopClosureParams();

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void dumpToTextStream(std::ostream& out) const;
};

Inherited Members

public:
    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields

bool LC_check_curr_partition_only

flag indicating whether to check only the partition of the last registered node for potential loop closures

size_t LC_min_nodeid_diff

nodeID difference for detecting potential loop closure in a partition.

If this difference is surpassed then the partition should be investigated for loop closures using Olson’s strategy.

double LC_eigenvalues_ratio_thresh

Eigenvalues ratio for accepting/rejecting a hypothesis set.

By default this is set to 2.

int LC_min_remote_nodes

how many remote nodes (large nodID difference should there be before I consider the potential loop closure.

int full_partition_per_nodes

Full partition of map only afer X new nodes have been registered.

Methods

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

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,...