mrpt::pbmap::config_heuristics Struct Reference

Detailed Description

A class used to define the heuristic parameters and thresholds used to match sets of planes.

These parameters are loaded from a configuration file.

Definition at line 30 of file heuristicParams.h.

#include <mrpt/pbmap/heuristicParams.h>

Public Member Functions
void	load_params (const std::string &config_file_name)
void	print_params ()

Public Attributes
std::string	path_prev_pbmaps
unsigned	min_planes_recognition
bool	use_structure
bool	use_completeness
float	dist_d
float	angle
float	color_threshold
float	intensity_threshold
float	hue_threshold
float	area_threshold
float	area_threshold_inv
float	area_full_threshold
float	area_full_threshold_inv
float	area_half_threshold
float	area_half_threshold_inv
float	elongation_threshold
float	elongation_threshold_inv
int	graph_mode
float	dist_threshold
float	dist_threshold_inv
float	angle_threshold
float	height_threshold
float	height_threshold_parallel
float	cos_angle_parallel

Member Function Documentation

load_params()

void mrpt::pbmap::config_heuristics::load_params ( const std::string &  config_file_name )

inline

Load the PbMap registration thresholds from an .ini file

Definition at line 81 of file heuristicParams.h.

References angle, angle_threshold, area_full_threshold, area_full_threshold_inv, area_half_threshold, area_half_threshold_inv, area_threshold, area_threshold_inv, ASSERT_FILE_EXISTS_, color_threshold, cos_angle_parallel, dist_d, dist_threshold, dist_threshold_inv, elongation_threshold, elongation_threshold_inv, graph_mode, height_threshold, height_threshold_parallel, hue_threshold, intensity_threshold, min_planes_recognition, path_prev_pbmaps, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), use_completeness, and use_structure.

Referenced by mrpt::pbmap::PbMapLocaliser::PbMapLocaliser().

print_params()

void mrpt::pbmap::config_heuristics::print_params ( )

inline

Print the threshold for registration

Definition at line 136 of file heuristicParams.h.

References angle, angle_threshold, area_threshold, color_threshold, dist_d, elongation_threshold, height_threshold, hue_threshold, and intensity_threshold.

Member Data Documentation

angle

float mrpt::pbmap::config_heuristics::angle

Definition at line 50 of file heuristicParams.h.

Referenced by load_params(), and print_params().

angle_threshold

float mrpt::pbmap::config_heuristics::angle_threshold

Definition at line 71 of file heuristicParams.h.

Referenced by load_params(), and print_params().

area_full_threshold

float mrpt::pbmap::config_heuristics::area_full_threshold

Definition at line 57 of file heuristicParams.h.

Referenced by load_params().

area_full_threshold_inv

float mrpt::pbmap::config_heuristics::area_full_threshold_inv

Definition at line 57 of file heuristicParams.h.

Referenced by load_params().

area_half_threshold

float mrpt::pbmap::config_heuristics::area_half_threshold

Definition at line 58 of file heuristicParams.h.

Referenced by load_params().

area_half_threshold_inv

float mrpt::pbmap::config_heuristics::area_half_threshold_inv

Definition at line 58 of file heuristicParams.h.

Referenced by load_params().

area_threshold

float mrpt::pbmap::config_heuristics::area_threshold

Definition at line 56 of file heuristicParams.h.

Referenced by load_params(), and print_params().

area_threshold_inv

float mrpt::pbmap::config_heuristics::area_threshold_inv

Definition at line 56 of file heuristicParams.h.

Referenced by load_params().

color_threshold

float mrpt::pbmap::config_heuristics::color_threshold

Definition at line 52 of file heuristicParams.h.

Referenced by load_params(), mrpt::pbmap::PbMapLocaliser::PbMapLocaliser(), and print_params().

cos_angle_parallel

float mrpt::pbmap::config_heuristics::cos_angle_parallel

Definition at line 78 of file heuristicParams.h.

Referenced by load_params().

dist_d

float mrpt::pbmap::config_heuristics::dist_d

Unary constraint threshold to limit the difference of distances between two pairs camera-plane (to be used in odometry, i.e. when the two cameras are nearby

Definition at line 49 of file heuristicParams.h.

Referenced by load_params(), and print_params().

dist_threshold

float mrpt::pbmap::config_heuristics::dist_threshold

Binary constraint threshold to limit the difference of distances between the centers of two pair of planes. This threashold should be loose if the plane boundaries are not known, which is the most common situation

Definition at line 70 of file heuristicParams.h.

Referenced by load_params().

dist_threshold_inv

float mrpt::pbmap::config_heuristics::dist_threshold_inv

Definition at line 70 of file heuristicParams.h.

Referenced by load_params().

elongation_threshold

float mrpt::pbmap::config_heuristics::elongation_threshold

Definition at line 61 of file heuristicParams.h.

Referenced by load_params(), and print_params().

elongation_threshold_inv

float mrpt::pbmap::config_heuristics::elongation_threshold_inv

Definition at line 61 of file heuristicParams.h.

Referenced by load_params().

graph_mode

int mrpt::pbmap::config_heuristics::graph_mode

Definition at line 62 of file heuristicParams.h.

Referenced by mrpt::pbmap::PbMapLocaliser::compareSubgraphNeighbors(), load_params(), mrpt::pbmap::PbMapLocaliser::run(), and mrpt::pbmap::PbMapLocaliser::searchPlaneContext().

height_threshold

float mrpt::pbmap::config_heuristics::height_threshold

Definition at line 73 of file heuristicParams.h.

Referenced by load_params(), and print_params().

height_threshold_parallel

float mrpt::pbmap::config_heuristics::height_threshold_parallel

Definition at line 75 of file heuristicParams.h.

Referenced by load_params().

hue_threshold

float mrpt::pbmap::config_heuristics::hue_threshold

Definition at line 54 of file heuristicParams.h.

Referenced by load_params(), mrpt::pbmap::PbMapLocaliser::PbMapLocaliser(), and print_params().

intensity_threshold

float mrpt::pbmap::config_heuristics::intensity_threshold

Definition at line 53 of file heuristicParams.h.

Referenced by load_params(), mrpt::pbmap::PbMapLocaliser::PbMapLocaliser(), and print_params().

min_planes_recognition

unsigned mrpt::pbmap::config_heuristics::min_planes_recognition

Global parameter indicating the minimum required plane matches for place recognition

Definition at line 39 of file heuristicParams.h.

Referenced by load_params(), mrpt::pbmap::PbMapLocaliser::PbMapLocaliser(), mrpt::pbmap::PbMapLocaliser::run(), and mrpt::pbmap::PbMapLocaliser::searchPlaneContext().

path_prev_pbmaps

std::string mrpt::pbmap::config_heuristics::path_prev_pbmaps

Global parameter to indicate the path to previous PbMaps used for place recognition

Definition at line 35 of file heuristicParams.h.

Referenced by load_params().

use_completeness

bool mrpt::pbmap::config_heuristics::use_completeness

Definition at line 43 of file heuristicParams.h.

Referenced by load_params().

use_structure

bool mrpt::pbmap::config_heuristics::use_structure

Definition at line 42 of file heuristicParams.h.

Referenced by load_params().