Detailed Description

The ICP algorithm configuration data.

Definition at line 55 of file CGridMapAligner.h.

#include <mrpt/slam/CGridMapAligner.h>

Inheritance diagram for mrpt::slam::CGridMapAligner::TConfigParams:

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 {CGridMapAligner::amModifiedRANSAC}
	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 {0.20f}
	RANSAC-step options: More...

float	ransac_SOG_sigma_m {0.10f}
	The square root of the uncertainty normalization variance var_m (see papers...) More...

float	ransac_mahalanobisDistanceThreshold {6.0f}
	[amRobustMatch method only] RANSAC-step options: More...

double	ransac_chi2_quantile {0.99}
	[amModifiedRANSAC method only] The quantile used for chi-square thresholding (default=0.99) More...

double	ransac_prob_good_inliers {0.9999}
	Probability of having a good inliers (def:0,9999), used for automatic number of iterations. More...

float	featsPerSquareMeter {0.015f}
	Features extraction from grid map: How many features to extract. More...

float	threshold_max {0.15f}
	Correspondences are considered if their distances are below this threshold (in the range [0,1]) (default=0.15). More...

float	threshold_delta {0.10f}
	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 {0.30f}
	The minimum goodness (0-1) of the post-matching ICP to accept a hypothesis as good (default=0.30) More...

double	max_ICP_mahadist {10.0}
	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 {0.9}
	Maximum KL-divergence for merging modes of the SOG (default=0.9) More...

bool	save_feat_coors {false}
	DEBUG - Dump all feature correspondences in a directory "grid_feats". More...

bool	debug_show_corrs {false}
	DEBUG - Show graphs with the details of each feature correspondences. More...

bool	debug_save_map_pairs {false}
	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 1094 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 43 of file CLoadableOptions.cpp.

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

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ 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 1098 of file CGridMapAligner.cpp.

References LOADABLEOPTS_DUMP_VAR, out, and ransac_mahalanobisDistanceThreshold.

◆ dumpVar_bool()

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

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_double()

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

staticprotectedinherited

Definition at line 56 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_float()

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

staticprotectedinherited

Definition at line 50 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ 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 44 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_string()

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

staticprotectedinherited

Definition at line 69 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ 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 1128 of file CGridMapAligner.cpp.

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

Referenced by mrpt::apps::CGridMapAlignerApp::run().

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◆ 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().

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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◆ 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::nav::CPTG_RobotShape_Circular, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::maps::COccupancyGridMap3D::TInsertionOptions, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, 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.

Referenced by mrpt::config::CLoadableOptions::dumpToTextStream(), and mrpt::config::CLoadableOptions::saveToConfigFileName().

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◆ 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 36 of file CLoadableOptions.cpp.

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

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Member Data Documentation

◆ debug_save_map_pairs

bool mrpt::slam::CGridMapAligner::TConfigParams::debug_save_map_pairs {false}

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

Definition at line 126 of file CGridMapAligner.h.

◆ debug_show_corrs

bool mrpt::slam::CGridMapAligner::TConfigParams::debug_show_corrs {false}

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

Definition at line 124 of file CGridMapAligner.h.

◆ featsPerSquareMeter

float mrpt::slam::CGridMapAligner::TConfigParams::featsPerSquareMeter {0.015f}

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

Definition at line 102 of file CGridMapAligner.h.

Referenced by mrpt::apps::CGridMapAlignerApp::run().

◆ feature_descriptor

mrpt::vision::TDescriptorType mrpt::slam::CGridMapAligner::TConfigParams::feature_descriptor

Initial value:

{

mrpt::vision::descPolarImages}

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 73 of file CGridMapAligner.h.

Referenced by mrpt::apps::CGridMapAlignerApp::run().

◆ feature_detector_options

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

All the parameters for the feature detector.

Definition at line 77 of file CGridMapAligner.h.

Referenced by mrpt::apps::CGridMapAlignerApp::run().

◆ max_ICP_mahadist

double mrpt::slam::CGridMapAligner::TConfigParams::max_ICP_mahadist {10.0}

The maximum Mahalanobis distance between the initial and final poses in the ICP not to discard the hypothesis (default=10)

Definition at line 115 of file CGridMapAligner.h.

◆ maxKLd_for_merge

double mrpt::slam::CGridMapAligner::TConfigParams::maxKLd_for_merge {0.9}

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

Definition at line 117 of file CGridMapAligner.h.

◆ methodSelection

TAlignerMethod mrpt::slam::CGridMapAligner::TConfigParams::methodSelection {CGridMapAligner::amModifiedRANSAC}

The aligner method:

Definition at line 69 of file CGridMapAligner.h.

Referenced by mrpt::apps::CGridMapAlignerApp::run().

◆ min_ICP_goodness

float mrpt::slam::CGridMapAligner::TConfigParams::min_ICP_goodness {0.30f}

The minimum goodness (0-1) of the post-matching ICP to accept a hypothesis as good (default=0.30)

Definition at line 112 of file CGridMapAligner.h.

◆ ransac_chi2_quantile

double mrpt::slam::CGridMapAligner::TConfigParams::ransac_chi2_quantile {0.99}

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

Definition at line 96 of file CGridMapAligner.h.

◆ ransac_mahalanobisDistanceThreshold

float mrpt::slam::CGridMapAligner::TConfigParams::ransac_mahalanobisDistanceThreshold {6.0f}

[amRobustMatch method only] RANSAC-step options:

See also: CICP::robustRigidTransformation

Definition at line 92 of file CGridMapAligner.h.

◆ ransac_minSetSizeRatio

float mrpt::slam::CGridMapAligner::TConfigParams::ransac_minSetSizeRatio {0.20f}

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 84 of file CGridMapAligner.h.

◆ ransac_prob_good_inliers

double mrpt::slam::CGridMapAligner::TConfigParams::ransac_prob_good_inliers {0.9999}

Probability of having a good inliers (def:0,9999), used for automatic number of iterations.

Definition at line 100 of file CGridMapAligner.h.

◆ ransac_SOG_sigma_m

float mrpt::slam::CGridMapAligner::TConfigParams::ransac_SOG_sigma_m {0.10f}

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

Definition at line 87 of file CGridMapAligner.h.

Referenced by mrpt::apps::CGridMapAlignerApp::run().

◆ save_feat_coors

bool mrpt::slam::CGridMapAligner::TConfigParams::save_feat_coors {false}

DEBUG - Dump all feature correspondences in a directory "grid_feats".

Definition at line 121 of file CGridMapAligner.h.

◆ threshold_delta

float mrpt::slam::CGridMapAligner::TConfigParams::threshold_delta {0.10f}

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 108 of file CGridMapAligner.h.

◆ threshold_max

float mrpt::slam::CGridMapAligner::TConfigParams::threshold_max {0.15f}

Correspondences are considered if their distances are below this threshold (in the range [0,1]) (default=0.15).

Definition at line 105 of file CGridMapAligner.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TConfigParams()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ debug_save_map_pairs

◆ debug_show_corrs

◆ featsPerSquareMeter

◆ feature_descriptor

◆ feature_detector_options

◆ max_ICP_mahadist

◆ maxKLd_for_merge

◆ methodSelection

◆ min_ICP_goodness

◆ ransac_chi2_quantile

◆ ransac_mahalanobisDistanceThreshold

◆ ransac_minSetSizeRatio

◆ ransac_prob_good_inliers

◆ ransac_SOG_sigma_m

◆ save_feat_coors

◆ threshold_delta

◆ threshold_max