MRPT
2.0.3
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The ICP algorithm configuration data.
Definition at line 55 of file CGridMapAligner.h.
#include <mrpt/slam/CGridMapAligner.h>
Public Member Functions | |
TConfigParams () | |
Initializer for default values: More... | |
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 | 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 §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... | |
virtual void | saveToConfigFile (mrpt::config::CConfigFileBase &target, const std::string §ion) 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 §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... | |
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) |
CGridMapAligner::TConfigParams::TConfigParams | ( | ) |
Initializer for default values:
Definition at line 1094 of file CGridMapAligner.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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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.
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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 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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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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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
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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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::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.
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.
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().
mrpt::vision::TDescriptorType mrpt::slam::CGridMapAligner::TConfigParams::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.
Definition at line 73 of file CGridMapAligner.h.
Referenced by mrpt::apps::CGridMapAlignerApp::run().
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().
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.
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.
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().
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.
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.
float mrpt::slam::CGridMapAligner::TConfigParams::ransac_mahalanobisDistanceThreshold {6.0f} |
[amRobustMatch method only] RANSAC-step options:
Definition at line 92 of file CGridMapAligner.h.
float mrpt::slam::CGridMapAligner::TConfigParams::ransac_minSetSizeRatio {0.20f} |
RANSAC-step options:
Definition at line 84 of file CGridMapAligner.h.
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.
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().
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.
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.
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.
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