MRPT
2.0.2
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Configuration parameters.
Definition at line 67 of file CIncrementalMapPartitioner.h.
#include <mrpt/slam/CIncrementalMapPartitioner.h>
Public Member Functions | |
void | loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string §ion) 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 §ion) const override |
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 §ion) |
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 §ion) 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 |
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) |
CIncrementalMapPartitioner::TOptions::TOptions | ( | ) |
Definition at line 53 of file CIncrementalMapPartitioner.cpp.
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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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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::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMatchingOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CPointsMap::TRenderOptions, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::vision::TStereoSystemParams, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::bayes::TKF_options, mrpt::graphslam::TSlidingWindow, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::maps::TMetricMapInitializer, mrpt::slam::CMetricMapBuilderICP::TConfigParams, and mrpt::slam::TKLDParams.
Definition at line 76 of file CLoadableOptions.cpp.
References mrpt::config::CConfigFileMemory::getContent(), out, and mrpt::config::CLoadableOptions::saveToConfigFile().
Referenced by mrpt::config::CLoadableOptions::dumpToConsole(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::maps::COccupancyGridMap3D::TMapDefinition::dumpToTextStream_map_specific(), and mrpt::apps::ICP_SLAM_App_Base::run().
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staticprotectedinherited |
Definition at line 62 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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staticprotectedinherited |
Definition at line 56 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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staticprotectedinherited |
Definition at line 50 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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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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staticprotectedinherited |
Definition at line 69 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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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:
Implements mrpt::config::CLoadableOptions.
Definition at line 59 of file CIncrementalMapPartitioner.cpp.
References MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_HERE_CONFIG_VAR, MRPT_START, and MRPT_TODO().
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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.
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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overridevirtual |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented from mrpt::config::CLoadableOptions.
Definition at line 85 of file CIncrementalMapPartitioner.cpp.
References MRPT_SAVE_CONFIG_VAR_COMMENT, mrpt::config::MRPT_SAVE_NAME_PADDING(), mrpt::config::MRPT_SAVE_VALUE_PADDING(), and mrpt::config::CConfigFileBase::write().
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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.
Definition at line 36 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::saveToConfigFile().
bool mrpt::slam::CIncrementalMapPartitioner::TOptions::forceBisectionOnly {false} |
Definition at line 86 of file CIncrementalMapPartitioner.h.
uint64_t mrpt::slam::CIncrementalMapPartitioner::TOptions::maxKeyFrameDistanceToEval |
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 107 of file CIncrementalMapPartitioner.h.
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 102 of file CIncrementalMapPartitioner.h.
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 96 of file CIncrementalMapPartitioner.h.
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 81 of file CIncrementalMapPartitioner.h.
Referenced by TEST().
double mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold {1.0} |
!< N-cut partition threshold [0,2] (default=1)
Definition at line 77 of file CIncrementalMapPartitioner.h.
Referenced by kfslam_traits< CRangeBearingKFSLAM >::doPartitioningExperiment(), and TEST().
similarity_method_t mrpt::slam::CIncrementalMapPartitioner::TOptions::simil_method {smMETRIC_MAP_MATCHING} |
Defines the method for determining the adjacency matrix values.
Definition at line 91 of file CIncrementalMapPartitioner.h.
Referenced by mrpt::slam::CIncrementalMapPartitioner::setSimilarityMethod(), and TEST().
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