struct mrpt::graphslam::deciders::CLoopCloserERD::TLaserParams

Overview

Struct for storing together the parameters needed for ICP matching, laser scans visualization etc.

#include <mrpt/graphslam/ERD/CLoopCloserERD.h>

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

    mrpt::slam::CICP icp;
    int prev_nodes_for_ICP;
    const mrpt::img::TColor laser_scans_color = mrpt::img::TColor(0, 20, 255);
    bool visualize_laser_scans;
    std::string keystroke_laser_scans = "l";
    bool use_scan_matching;
    bool has_read_config = false;
    TSlidingWindow mahal_distance_ICP_odom_win;
    TSlidingWindow goodness_threshold_win;

    // construction

    TLaserParams();

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void dumpToTextStream(std::ostream& out) 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

int prev_nodes_for_ICP

How many nodes back to check ICP against?

const mrpt::img::TColor laser_scans_color = mrpt::img::TColor(0, 20, 255)

see Constructor for initialization

bool use_scan_matching

Indicate whethet to use scan-matching at all during graphSLAM [on by default].

It is strongly recommended that the user does not set this to false (via the .ini file). graphSLAM may diverge significantly if no scan-matching is not used.

TSlidingWindow mahal_distance_ICP_odom_win

Keep track of the mahalanobis distance between the initial pose difference and the suggested new edge for the pairs of checked nodes.

TSlidingWindow goodness_threshold_win

Keep track of ICP Goodness values for ICP between nearby nodes and adapt the Goodness threshold based on the median of the recorded Goodness values.

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,...