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mrpt::pbmap::config_heuristics Struct Reference

Detailed Description

A class used to define the heuristic parameters and thresholds used to match sets of planes.

These parameters are loaded from a configuration file.

Definition at line 32 of file heuristicParams.h.

#include <mrpt/pbmap/heuristicParams.h>

Public Member Functions

void load_params (const std::string &config_file_name)
 
void print_params ()
 

Public Attributes

std::string path_prev_pbmaps
 
unsigned min_planes_recognition
 
bool use_structure
 
bool use_completeness
 
float dist_d
 
float angle
 
float color_threshold
 
float intensity_threshold
 
float hue_threshold
 
float area_threshold
 
float area_threshold_inv
 
float area_full_threshold
 
float area_full_threshold_inv
 
float area_half_threshold
 
float area_half_threshold_inv
 
float elongation_threshold
 
float elongation_threshold_inv
 
int graph_mode
 
float dist_threshold
 
float dist_threshold_inv
 
float angle_threshold
 
float height_threshold
 
float height_threshold_parallel
 
float cos_angle_parallel
 

Member Function Documentation

◆ load_params()

void mrpt::pbmap::config_heuristics::load_params ( const std::string config_file_name)
inline

◆ print_params()

void mrpt::pbmap::config_heuristics::print_params ( )
inline

Print the threshold for registration

Definition at line 138 of file heuristicParams.h.

References angle, angle_threshold, area_threshold, color_threshold, dist_d, elongation_threshold, height_threshold, hue_threshold, and intensity_threshold.

Member Data Documentation

◆ angle

float mrpt::pbmap::config_heuristics::angle

Definition at line 52 of file heuristicParams.h.

Referenced by load_params(), and print_params().

◆ angle_threshold

float mrpt::pbmap::config_heuristics::angle_threshold

Definition at line 73 of file heuristicParams.h.

Referenced by load_params(), and print_params().

◆ area_full_threshold

float mrpt::pbmap::config_heuristics::area_full_threshold

Definition at line 59 of file heuristicParams.h.

Referenced by load_params().

◆ area_full_threshold_inv

float mrpt::pbmap::config_heuristics::area_full_threshold_inv

Definition at line 59 of file heuristicParams.h.

Referenced by load_params().

◆ area_half_threshold

float mrpt::pbmap::config_heuristics::area_half_threshold

Definition at line 60 of file heuristicParams.h.

Referenced by load_params().

◆ area_half_threshold_inv

float mrpt::pbmap::config_heuristics::area_half_threshold_inv

Definition at line 60 of file heuristicParams.h.

Referenced by load_params().

◆ area_threshold

float mrpt::pbmap::config_heuristics::area_threshold

Definition at line 58 of file heuristicParams.h.

Referenced by load_params(), and print_params().

◆ area_threshold_inv

float mrpt::pbmap::config_heuristics::area_threshold_inv

Definition at line 58 of file heuristicParams.h.

Referenced by load_params().

◆ color_threshold

float mrpt::pbmap::config_heuristics::color_threshold

◆ cos_angle_parallel

float mrpt::pbmap::config_heuristics::cos_angle_parallel

Definition at line 80 of file heuristicParams.h.

Referenced by load_params().

◆ dist_d

float mrpt::pbmap::config_heuristics::dist_d

Unary constraint threshold to limit the difference of distances between two pairs camera-plane (to be used in odometry, i.e. when the two cameras are nearby

Definition at line 51 of file heuristicParams.h.

Referenced by load_params(), and print_params().

◆ dist_threshold

float mrpt::pbmap::config_heuristics::dist_threshold

Binary constraint threshold to limit the difference of distances between the centers of two pair of planes. This threashold should be loose if the plane boundaries are not known, which is the most common situation

Definition at line 72 of file heuristicParams.h.

Referenced by load_params().

◆ dist_threshold_inv

float mrpt::pbmap::config_heuristics::dist_threshold_inv

Definition at line 72 of file heuristicParams.h.

Referenced by load_params().

◆ elongation_threshold

float mrpt::pbmap::config_heuristics::elongation_threshold

Definition at line 63 of file heuristicParams.h.

Referenced by load_params(), and print_params().

◆ elongation_threshold_inv

float mrpt::pbmap::config_heuristics::elongation_threshold_inv

Definition at line 63 of file heuristicParams.h.

Referenced by load_params().

◆ graph_mode

int mrpt::pbmap::config_heuristics::graph_mode

◆ height_threshold

float mrpt::pbmap::config_heuristics::height_threshold

Definition at line 75 of file heuristicParams.h.

Referenced by load_params(), and print_params().

◆ height_threshold_parallel

float mrpt::pbmap::config_heuristics::height_threshold_parallel

Definition at line 77 of file heuristicParams.h.

Referenced by load_params().

◆ hue_threshold

float mrpt::pbmap::config_heuristics::hue_threshold

◆ intensity_threshold

float mrpt::pbmap::config_heuristics::intensity_threshold

◆ min_planes_recognition

unsigned mrpt::pbmap::config_heuristics::min_planes_recognition

Global parameter indicating the minimum required plane matches for place recognition

Definition at line 41 of file heuristicParams.h.

Referenced by load_params(), mrpt::pbmap::PbMapLocaliser::PbMapLocaliser(), mrpt::pbmap::PbMapLocaliser::run(), and mrpt::pbmap::PbMapLocaliser::searchPlaneContext().

◆ path_prev_pbmaps

std::string mrpt::pbmap::config_heuristics::path_prev_pbmaps

Global parameter to indicate the path to previous PbMaps used for place recognition

Definition at line 37 of file heuristicParams.h.

Referenced by load_params().

◆ use_completeness

bool mrpt::pbmap::config_heuristics::use_completeness

Definition at line 45 of file heuristicParams.h.

Referenced by load_params().

◆ use_structure

bool mrpt::pbmap::config_heuristics::use_structure

Definition at line 44 of file heuristicParams.h.

Referenced by load_params().




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