With this struct options are provided to the observation insertion process.
Definition at line 231 of file CLandmarksMap.h.
#include <mrpt/maps/CLandmarksMap.h>
Public Member Functions | |
TInsertionOptions () | |
Initilization of default parameters. More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) override |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const 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 §ion) |
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 §ion) 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 §ion) 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 | |
bool | insert_SIFTs_from_monocular_images |
If set to true (default), the insertion of a CObservationImage in the map will insert SIFT 3D features. More... | |
bool | insert_SIFTs_from_stereo_images |
If set to true (default), the insertion of a CObservationStereoImages in the map will insert SIFT 3D features. More... | |
bool | insert_Landmarks_from_range_scans |
If set to true (default), inserting a CObservation2DRangeScan in the map will generate landmarks for each range. More... | |
float | SiftCorrRatioThreshold |
[For SIFT landmarks only] The ratio between the best and second best descriptor distances to set as correspondence (Default=0.4) More... | |
float | SiftLikelihoodThreshold |
[For SIFT landmarks only] The minimum likelihood value of a match to set as correspondence (Default=0.5) More... | |
float | SiftEDDThreshold |
[For SIFT landmarks only] The minimum Euclidean Descriptor Distance value of a match to set as correspondence (Default=200) More... | |
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 More... | |
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 More... | |
float | SIFTsLoadDistanceOfTheMean |
[For SIFT landmarks only] The distance (in meters) of the mean value of landmarks, for the initial position PDF (Default = 3m) More... | |
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) More... | |
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) More... | |
float | SIFTs_stdDisparity |
int | SIFTs_numberOfKLTKeypoints |
Number of points to extract in the image. More... | |
float | SIFTs_stereo_maxDepth |
Maximum depth of 3D landmarks when loading a landmarks map from a stereo image observation. More... | |
float | SIFTs_epipolar_TH |
Maximum distance (in pixels) from a point to a certain epipolar line to be considered a potential match. More... | |
bool | PLOT_IMAGES |
Indicates if the images (as well as the SIFT detected features) should be shown in a window. More... | |
mrpt::vision::CFeatureExtraction::TOptions | SIFT_feat_options |
Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map. 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) |
CLandmarksMap::TInsertionOptions::TInsertionOptions | ( | ) |
Initilization of default parameters.
Definition at line 2291 of file CLandmarksMap.cpp.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
Definition at line 44 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().
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overridevirtual |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented from mrpt::utils::CLoadableOptions.
Definition at line 2321 of file CLandmarksMap.cpp.
References mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 65 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 59 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 54 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
Definition at line 49 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 71 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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overridevirtual |
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:
Implements mrpt::utils::CLoadableOptions.
Definition at line 2381 of file CLandmarksMap.cpp.
References mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), and mrpt::utils::CConfigFileBase::read_int().
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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.
Definition at line 22 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::loadFromConfigFile().
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().
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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.
Definition at line 29 of file CLoadableOptions.cpp.
References MRPT_UNUSED_PARAM.
Referenced by mrpt::utils::CLoadableOptions::dumpToTextStream(), and mrpt::utils::CLoadableOptions::saveToConfigFileName().
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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.
Definition at line 37 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::saveToConfigFile().
bool mrpt::maps::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 257 of file CLandmarksMap.h.
Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood().
bool mrpt::maps::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 247 of file CLandmarksMap.h.
Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::maps::CLandmarksMap::internal_insertObservation().
bool mrpt::maps::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 252 of file CLandmarksMap.h.
Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::maps::CLandmarksMap::internal_insertObservation().
bool mrpt::maps::CLandmarksMap::TInsertionOptions::PLOT_IMAGES |
Indicates if the images (as well as the SIFT detected features) should be shown in a window.
Definition at line 330 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().
mrpt::vision::CFeatureExtraction::TOptions mrpt::maps::CLandmarksMap::TInsertionOptions::SIFT_feat_options |
Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map.
Definition at line 340 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::internal_insertObservation().
float mrpt::maps::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 262 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().
float mrpt::maps::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 274 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), and mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().
unsigned int mrpt::maps::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 291 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap().
float mrpt::maps::CLandmarksMap::TInsertionOptions::SiftLikelihoodThreshold |
[For SIFT landmarks only] The minimum likelihood value of a match to set as correspondence (Default=0.5)
Definition at line 267 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks().
unsigned int mrpt::maps::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 283 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks().
float mrpt::maps::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 325 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().
int mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTs_numberOfKLTKeypoints |
Number of points to extract in the image.
Definition at line 315 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().
float mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTs_stdDisparity |
Definition at line 311 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().
float mrpt::maps::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 311 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().
float mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTs_stereo_maxDepth |
Maximum depth of 3D landmarks when loading a landmarks map from a stereo image observation.
Definition at line 320 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().
float mrpt::maps::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 299 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation().
float mrpt::maps::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 305 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation().
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