Detailed Description

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

Definition at line 229 of file CLandmarksMap.h.

#include <mrpt/maps/CLandmarksMap.h>

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

Public Member Functions
	TInsertionOptions ()
	Initilization of default parameters. 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
bool	insert_SIFTs_from_monocular_images {true}
	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 {true}
	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 {true}
	If set to true (default), inserting a CObservation2DRangeScan in the map will generate landmarks for each range. More...

float	SiftCorrRatioThreshold {0.4f}
	[For SIFT landmarks only] The ratio between the best and second best descriptor distances to set as correspondence (Default=0.4) More...

float	SiftLikelihoodThreshold {0.5f}
	[For SIFT landmarks only] The minimum likelihood value of a match to set as correspondence (Default=0.5) More...

float	SiftEDDThreshold {200.0f}
	[For SIFT landmarks only] The minimum Euclidean Descriptor Distance value of a match to set as correspondence (Default=200) More...

unsigned int	SIFTMatching3DMethod {0}
	[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 {0}
	[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 {3.0f}
	[For SIFT landmarks only] The distance (in meters) of the mean value of landmarks, for the initial position PDF (Default = 3m) More...

float	SIFTsLoadEllipsoidWidth {0.05f}
	[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 {2.0f}
	[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 {1.0f}

int	SIFTs_numberOfKLTKeypoints {60}
	Number of points to extract in the image. More...

float	SIFTs_stereo_maxDepth {15.0f}
	Maximum depth of 3D landmarks when loading a landmarks map from a stereo image observation. More...

float	SIFTs_epipolar_TH {1.5f}
	Maximum distance (in pixels) from a point to a certain epipolar line to be considered a potential match. More...

bool	PLOT_IMAGES {false}
	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 (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

◆ TInsertionOptions()

CLandmarksMap::TInsertionOptions::TInsertionOptions ( )

Initilization of default parameters.

Definition at line 2135 of file CLandmarksMap.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 CLandmarksMap::TInsertionOptions::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 2145 of file CLandmarksMap.cpp.

References mrpt::format(), and out.

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◆ 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 CLandmarksMap::TInsertionOptions::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 2204 of file CLandmarksMap.cpp.

References iniFile().

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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

◆ insert_Landmarks_from_range_scans

bool mrpt::maps::CLandmarksMap::TInsertionOptions::insert_Landmarks_from_range_scans {true}

If set to true (default), inserting a CObservation2DRangeScan in the map will generate landmarks for each range.

Definition at line 255 of file CLandmarksMap.h.

◆ insert_SIFTs_from_monocular_images

bool mrpt::maps::CLandmarksMap::TInsertionOptions::insert_SIFTs_from_monocular_images {true}

If set to true (default), the insertion of a CObservationImage in the map will insert SIFT 3D features.

Definition at line 245 of file CLandmarksMap.h.

◆ insert_SIFTs_from_stereo_images

bool mrpt::maps::CLandmarksMap::TInsertionOptions::insert_SIFTs_from_stereo_images {true}

If set to true (default), the insertion of a CObservationStereoImages in the map will insert SIFT 3D features.

Definition at line 250 of file CLandmarksMap.h.

◆ PLOT_IMAGES

bool mrpt::maps::CLandmarksMap::TInsertionOptions::PLOT_IMAGES {false}

Indicates if the images (as well as the SIFT detected features) should be shown in a window.

Definition at line 328 of file CLandmarksMap.h.

◆ SIFT_feat_options

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 338 of file CLandmarksMap.h.

◆ SiftCorrRatioThreshold

float mrpt::maps::CLandmarksMap::TInsertionOptions::SiftCorrRatioThreshold {0.4f}

[For SIFT landmarks only] The ratio between the best and second best descriptor distances to set as correspondence (Default=0.4)

Definition at line 260 of file CLandmarksMap.h.

◆ SiftEDDThreshold

float mrpt::maps::CLandmarksMap::TInsertionOptions::SiftEDDThreshold {200.0f}

[For SIFT landmarks only] The minimum Euclidean Descriptor Distance value of a match to set as correspondence (Default=200)

Definition at line 272 of file CLandmarksMap.h.

◆ SIFTLikelihoodMethod

unsigned int mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTLikelihoodMethod {0}

[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 289 of file CLandmarksMap.h.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap().

◆ SiftLikelihoodThreshold

float mrpt::maps::CLandmarksMap::TInsertionOptions::SiftLikelihoodThreshold {0.5f}

[For SIFT landmarks only] The minimum likelihood value of a match to set as correspondence (Default=0.5)

Definition at line 265 of file CLandmarksMap.h.

◆ SIFTMatching3DMethod

unsigned int mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTMatching3DMethod {0}

[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 281 of file CLandmarksMap.h.

◆ SIFTs_epipolar_TH

float mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTs_epipolar_TH {1.5f}

Maximum distance (in pixels) from a point to a certain epipolar line to be considered a potential match.

Definition at line 323 of file CLandmarksMap.h.

◆ SIFTs_numberOfKLTKeypoints

int mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTs_numberOfKLTKeypoints {60}

Number of points to extract in the image.

Definition at line 313 of file CLandmarksMap.h.

◆ SIFTs_stdDisparity

float mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTs_stdDisparity {1.0f}

Definition at line 309 of file CLandmarksMap.h.

◆ SIFTs_stdXY

float mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTs_stdXY {2.0f}

[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 309 of file CLandmarksMap.h.

◆ SIFTs_stereo_maxDepth

float mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTs_stereo_maxDepth {15.0f}

Maximum depth of 3D landmarks when loading a landmarks map from a stereo image observation.

Definition at line 318 of file CLandmarksMap.h.

◆ SIFTsLoadDistanceOfTheMean

float mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTsLoadDistanceOfTheMean {3.0f}

[For SIFT landmarks only] The distance (in meters) of the mean value of landmarks, for the initial position PDF (Default = 3m)

Definition at line 297 of file CLandmarksMap.h.

◆ SIFTsLoadEllipsoidWidth

float mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTsLoadEllipsoidWidth {0.05f}

[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 303 of file CLandmarksMap.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TInsertionOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ insert_Landmarks_from_range_scans

◆ insert_SIFTs_from_monocular_images

◆ insert_SIFTs_from_stereo_images

◆ PLOT_IMAGES

◆ SIFT_feat_options

◆ SiftCorrRatioThreshold

◆ SiftEDDThreshold

◆ SIFTLikelihoodMethod

◆ SiftLikelihoodThreshold

◆ SIFTMatching3DMethod

◆ SIFTs_epipolar_TH

◆ SIFTs_numberOfKLTKeypoints

◆ SIFTs_stdDisparity

◆ SIFTs_stdXY

◆ SIFTs_stereo_maxDepth

◆ SIFTsLoadDistanceOfTheMean

◆ SIFTsLoadEllipsoidWidth