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mrpt::maps::CLandmarksMap::TInsertionOptions Struct Reference

Detailed Description

With this struct options are provided to the observation insertion process.

Definition at line 178 of file maps/CLandmarksMap.h.

#include <mrpt/maps/CLandmarksMap.h>

Inheritance diagram for mrpt::maps::CLandmarksMap::TInsertionOptions:
Inheritance graph

Public Member Functions

 TInsertionOptions ()
 Initilization of default parameters. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const MRPT_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 &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::utils::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

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)
 

Constructor & Destructor Documentation

CLandmarksMap::TInsertionOptions::TInsertionOptions ( )

Initilization of default parameters.

Definition at line 2058 of file CLandmarksMap.cpp.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void CLandmarksMap::TInsertionOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual

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 2088 of file CLandmarksMap.cpp.

References mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

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

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
void CLandmarksMap::TInsertionOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
virtual

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::utils::CLoadableOptions.

Definition at line 2121 of file CLandmarksMap.cpp.

References mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), and mrpt::utils::CConfigFileBase::read_int().

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 23 of file CLoadableOptions.cpp.

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

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

void CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtualinherited
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 39 of file CLoadableOptions.cpp.

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

Member Data Documentation

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 198 of file maps/CLandmarksMap.h.

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 190 of file maps/CLandmarksMap.h.

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 194 of file maps/CLandmarksMap.h.

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 253 of file maps/CLandmarksMap.h.

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.

Note
There exists another SIFT_feat_options field in the likelihoodOptions member.
All parameters of this field can be loaded from a config file. See mrpt::vision::CFeatureExtraction::TOptions for the names of the expected fields.

Definition at line 259 of file maps/CLandmarksMap.h.

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 202 of file maps/CLandmarksMap.h.

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 211 of file maps/CLandmarksMap.h.

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 223 of file maps/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 206 of file maps/CLandmarksMap.h.

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 217 of file maps/CLandmarksMap.h.

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 249 of file maps/CLandmarksMap.h.

int mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTs_numberOfKLTKeypoints

Number of points to extract in the image.

Definition at line 241 of file maps/CLandmarksMap.h.

float mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTs_stdDisparity

Definition at line 237 of file maps/CLandmarksMap.h.

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 237 of file maps/CLandmarksMap.h.

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 245 of file maps/CLandmarksMap.h.

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 229 of file maps/CLandmarksMap.h.

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 233 of file maps/CLandmarksMap.h.




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