Detailed Description

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

Definition at line 234 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
	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 (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 2213 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 44 of file CLoadableOptions.cpp.

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

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

◆ 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 2243 of file CLandmarksMap.cpp.

References mrpt::format().

◆ dumpVar_bool()

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

staticprotectedinherited

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_double()

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

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_float()

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

staticprotectedinherited

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ 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 45 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_string()

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

staticprotectedinherited

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ 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 2303 of file CLandmarksMap.cpp.

References iniFile().

◆ 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().

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

References MRPT_UNUSED_PARAM.

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

◆ 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 37 of file CLoadableOptions.cpp.

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

Member Data Documentation

◆ insert_Landmarks_from_range_scans

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 260 of file CLandmarksMap.h.

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

◆ insert_SIFTs_from_monocular_images

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 250 of file CLandmarksMap.h.

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

◆ insert_SIFTs_from_stereo_images

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 255 of file CLandmarksMap.h.

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

◆ PLOT_IMAGES

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 333 of file CLandmarksMap.h.

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

◆ 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 343 of file CLandmarksMap.h.

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

◆ SiftCorrRatioThreshold

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 265 of file CLandmarksMap.h.

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

◆ SiftEDDThreshold

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 277 of file CLandmarksMap.h.

Referenced by mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), and mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation().

◆ SIFTLikelihoodMethod

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 294 of file CLandmarksMap.h.

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

◆ SiftLikelihoodThreshold

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 270 of file CLandmarksMap.h.

Referenced by mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks().

◆ SIFTMatching3DMethod

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 286 of file CLandmarksMap.h.

Referenced by mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks().

◆ SIFTs_epipolar_TH

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 328 of file CLandmarksMap.h.

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

◆ SIFTs_numberOfKLTKeypoints

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

Number of points to extract in the image.

Definition at line 318 of file CLandmarksMap.h.

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

◆ SIFTs_stdDisparity

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

Definition at line 314 of file CLandmarksMap.h.

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

◆ SIFTs_stdXY

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 314 of file CLandmarksMap.h.

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

◆ SIFTs_stereo_maxDepth

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 323 of file CLandmarksMap.h.

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

◆ SIFTsLoadDistanceOfTheMean

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 302 of file CLandmarksMap.h.

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

◆ SIFTsLoadEllipsoidWidth

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 308 of file CLandmarksMap.h.

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

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