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mrpt::slam::CIncrementalMapPartitioner::TOptions Struct Reference

Detailed Description

Configuration parameters.

Definition at line 71 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner::TOptions:
Inheritance graph

Public Member Functions

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 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...
 
 TOptions ()
 
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...
 
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...
 
virtual void dumpToTextStream (std::ostream &out) const
 This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More...
 

Public Attributes

double partitionThreshold { 1.0 }
 !< N-cut partition threshold [0,2] (default=1) More...
 
mrpt::maps::TMatchingRatioParams mrp
 These parameters are loaded/saved to config files with the prefix "mrp.{param_name}". More...
 
bool forceBisectionOnly { false }
 
similarity_method_t simil_method { smMETRIC_MAP_MATCHING }
 Defines the method for determining the adjacency matrix values. More...
 
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). More...
 
mrpt::maps::TSetOfMetricMapInitializers metricmap
 Type and parameters of metric map(s) to build for each keyframe. More...
 
uint64_t maxKeyFrameDistanceToEval {std::numeric_limits<uint64_t>::max()}
 Maximum distance, in KF identifier numbers, to check for similarity. 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

◆ TOptions()

CIncrementalMapPartitioner::TOptions::TOptions ( )

Definition at line 55 of file CIncrementalMapPartitioner.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 CLoadableOptions::dumpToTextStream ( std::ostream &  out) const
virtualinherited

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 in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMatchingOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CPointsMap::TRenderOptions, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::vision::TStereoSystemParams, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::bayes::TKF_options, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::maps::TMetricMapInitializer, mrpt::slam::CMetricMapBuilderICP::TConfigParams, mrpt::vision::CCamModel, mrpt::slam::TKLDParams, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams, mrpt::graphslam::TSlidingWindow, and mrpt::graphslam::TUncertaintyPath< GRAPH_T >.

Definition at line 77 of file CLoadableOptions.cpp.

References mrpt::config::CConfigFileMemory::getContent(), and mrpt::config::CLoadableOptions::saveToConfigFile().

Referenced by mrpt::config::CLoadableOptions::dumpToConsole(), and mrpt::maps::TMetricMapInitializer::dumpToTextStream().

◆ 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 CIncrementalMapPartitioner::TOptions::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 61 of file CIncrementalMapPartitioner.cpp.

References MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_HERE_CONFIG_VAR, MRPT_START, and MRPT_TODO.

◆ 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 CIncrementalMapPartitioner::TOptions::saveToConfigFile ( mrpt::config::CConfigFileBase &  target,
const std::string &  section 
) const
virtual

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

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 86 of file CIncrementalMapPartitioner.cpp.

References MRPT_SAVE_CONFIG_VAR_COMMENT, mrpt::config::MRPT_SAVE_NAME_PADDING(), and mrpt::config::MRPT_SAVE_VALUE_PADDING().

◆ 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

◆ forceBisectionOnly

bool mrpt::slam::CIncrementalMapPartitioner::TOptions::forceBisectionOnly { false }

Definition at line 89 of file CIncrementalMapPartitioner.h.

◆ maxKeyFrameDistanceToEval

uint64_t mrpt::slam::CIncrementalMapPartitioner::TOptions::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.

Definition at line 110 of file CIncrementalMapPartitioner.h.

◆ metricmap

mrpt::maps::TSetOfMetricMapInitializers mrpt::slam::CIncrementalMapPartitioner::TOptions::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

Definition at line 105 of file CIncrementalMapPartitioner.h.

◆ minimumNumberElementsEachCluster

uint64_t mrpt::slam::CIncrementalMapPartitioner::TOptions::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).

Definition at line 99 of file CIncrementalMapPartitioner.h.

◆ mrp

mrpt::maps::TMatchingRatioParams mrpt::slam::CIncrementalMapPartitioner::TOptions::mrp

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

Definition at line 84 of file CIncrementalMapPartitioner.h.

◆ partitionThreshold

double mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold { 1.0 }

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

Definition at line 80 of file CIncrementalMapPartitioner.h.

◆ simil_method

similarity_method_t mrpt::slam::CIncrementalMapPartitioner::TOptions::simil_method { smMETRIC_MAP_MATCHING }

Defines the method for determining the adjacency matrix values.

See also
CIncrementalMapPartitioner::setSimilarityMethod()

Definition at line 94 of file CIncrementalMapPartitioner.h.

Referenced by mrpt::slam::CIncrementalMapPartitioner::setSimilarityMethod().



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