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

Detailed Description

The ICP algorithm configuration data.

Definition at line 77 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::config::CConfigFileBase &source, const std::string &section) override
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (std::ostream &out) const override
 This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. 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::config::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 (std::ostream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (std::ostream &out, const char *varName, float v)
 
static void dumpVar_double (std::ostream &out, const char *varName, double v)
 
static void dumpVar_bool (std::ostream &out, const char *varName, bool v)
 
static void dumpVar_string (std::ostream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

◆ TConfigParams()

CGridMapAligner::TConfigParams::TConfigParams ( )

Initializer for default values:

Definition at line 1166 of file CGridMapAligner.cpp.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

◆ dumpToTextStream()

void CGridMapAligner::TConfigParams::dumpToTextStream ( std::ostream &  out) const
overridevirtual

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 1193 of file CGridMapAligner.cpp.

References mrpt::format(), LOADABLEOPTS_DUMP_VAR, and ransac_mahalanobisDistanceThreshold.

◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool ( std::ostream &  out,
const char *  varName,
bool  v 
)
staticprotectedinherited

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_double()

void CLoadableOptions::dumpVar_double ( std::ostream &  out,
const char *  varName,
double  v 
)
staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_float()

void CLoadableOptions::dumpVar_float ( std::ostream &  out,
const char *  varName,
float  v 
)
staticprotectedinherited

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_int()

void CLoadableOptions::dumpVar_int ( std::ostream &  out,
const char *  varName,
int  v 
)
staticprotectedinherited

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

Definition at line 45 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_string()

void CLoadableOptions::dumpVar_string ( std::ostream &  out,
const char *  varName,
const std::string v 
)
staticprotectedinherited

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ loadFromConfigFile()

void CGridMapAligner::TConfigParams::loadFromConfigFile ( const mrpt::config::CConfigFileBase source,
const std::string section 
)
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:

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

Implements mrpt::config::CLoadableOptions.

Definition at line 1224 of file CGridMapAligner.cpp.

References iniFile(), MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_NO_DEFAULT, and ransac_mahalanobisDistanceThreshold.

◆ loadFromConfigFileName()

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 22 of file CLoadableOptions.cpp.

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

◆ saveToConfigFile()

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

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

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::maps::TSetOfMetricMapInitializers, 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::maps::TMapGenericParams, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::maps::TMetricMapInitializer, 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::config::CLoadableOptions::dumpToTextStream(), and mrpt::config::CLoadableOptions::saveToConfigFileName().

◆ saveToConfigFileName()

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 37 of file CLoadableOptions.cpp.

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

Member Data Documentation

◆ debug_save_map_pairs

bool mrpt::slam::CGridMapAligner::TConfigParams::debug_save_map_pairs

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

Definition at line 147 of file CGridMapAligner.h.

◆ debug_show_corrs

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

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

Definition at line 145 of file CGridMapAligner.h.

◆ featsPerSquareMeter

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

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

Definition at line 123 of file CGridMapAligner.h.

◆ feature_descriptor

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 95 of file CGridMapAligner.h.

◆ feature_detector_options

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

All the parameters for the feature detector.

Definition at line 98 of file CGridMapAligner.h.

◆ max_ICP_mahadist

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 136 of file CGridMapAligner.h.

◆ maxKLd_for_merge

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

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

Definition at line 138 of file CGridMapAligner.h.

◆ methodSelection

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

The aligner method:

Definition at line 91 of file CGridMapAligner.h.

◆ min_ICP_goodness

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 133 of file CGridMapAligner.h.

◆ ransac_chi2_quantile

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

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

Definition at line 117 of file CGridMapAligner.h.

◆ ransac_mahalanobisDistanceThreshold

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

[amRobustMatch method only] RANSAC-step options:

See also
CICP::robustRigidTransformation

Definition at line 113 of file CGridMapAligner.h.

◆ ransac_minSetSizeRatio

float mrpt::slam::CGridMapAligner::TConfigParams::ransac_minSetSizeRatio

RANSAC-step options:

See also
CICP::robustRigidTransformation The ratio of landmarks that must be inliers to accepto an hypotheses (typ: 0.20)

Definition at line 105 of file CGridMapAligner.h.

◆ ransac_prob_good_inliers

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 121 of file CGridMapAligner.h.

◆ ransac_SOG_sigma_m

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

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

Definition at line 108 of file CGridMapAligner.h.

◆ save_feat_coors

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.

◆ threshold_delta

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 129 of file CGridMapAligner.h.

◆ threshold_max

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 126 of file CGridMapAligner.h.




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