struct mrpt::slam::CIncrementalMapPartitioner::TOptions

Overview

Configuration parameters.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

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

    double partitionThreshold {1.0};
    mrpt::maps::TMatchingRatioParams mrp;
    bool forceBisectionOnly {false};
    similarity_method_t simil_method {smMETRIC_MAP_MATCHING};
    uint64_t minimumNumberElementsEachCluster {1};
    mrpt::maps::TSetOfMetricMapInitializers metricmap;
    uint64_t maxKeyFrameDistanceToEval {            std::numeric_limits<uint64_t>::max()};

    // construction

    TOptions();

    // methods

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

double partitionThreshold {1.0}

!< N-cut partition threshold [0,2] (default=1)

mrpt::maps::TMatchingRatioParams mrp

These parameters are loaded/saved to config files with the prefix “mrp.{param_name}”.

similarity_method_t simil_method {smMETRIC_MAP_MATCHING}

Defines the method for determining the adjacency matrix values.

uint64_t minimumNumberElementsEachCluster {1}

If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1).

mrpt::maps::TSetOfMetricMapInitializers metricmap

Type and parameters of metric map(s) to build for each keyframe.

Parameters can be loaded from a config file from sections with the prefix of this “TOptions” section + “.metricmap”. Default: a CSimplePointsMap

uint64_t maxKeyFrameDistanceToEval {            std::numeric_limits<uint64_t>::max()}

Maximum distance, in KF identifier numbers, to check for similarity.

Default=Infinite. Can be used to constraint the wrong detection of clusters after loop closures but before correcting global poses.

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,...