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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

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

Print the threshold for registration

Definition at line 108 of file heuristicParams.h.

Member Data Documentation

float mrpt::pbmap::config_heuristics::angle

Definition at line 44 of file heuristicParams.h.

float mrpt::pbmap::config_heuristics::angle_threshold

Definition at line 59 of file heuristicParams.h.

float mrpt::pbmap::config_heuristics::area_full_threshold

Definition at line 51 of file heuristicParams.h.

float mrpt::pbmap::config_heuristics::area_full_threshold_inv

Definition at line 51 of file heuristicParams.h.

float mrpt::pbmap::config_heuristics::area_half_threshold

Definition at line 52 of file heuristicParams.h.

float mrpt::pbmap::config_heuristics::area_half_threshold_inv

Definition at line 52 of file heuristicParams.h.

float mrpt::pbmap::config_heuristics::area_threshold

Definition at line 50 of file heuristicParams.h.

float mrpt::pbmap::config_heuristics::area_threshold_inv

Definition at line 50 of file heuristicParams.h.

float mrpt::pbmap::config_heuristics::color_threshold

Definition at line 46 of file heuristicParams.h.

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

float mrpt::pbmap::config_heuristics::cos_angle_parallel

Definition at line 62 of file heuristicParams.h.

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 43 of file heuristicParams.h.

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 58 of file heuristicParams.h.

float mrpt::pbmap::config_heuristics::dist_threshold_inv

Definition at line 58 of file heuristicParams.h.

float mrpt::pbmap::config_heuristics::elongation_threshold

Definition at line 53 of file heuristicParams.h.

float mrpt::pbmap::config_heuristics::elongation_threshold_inv

Definition at line 53 of file heuristicParams.h.

int mrpt::pbmap::config_heuristics::graph_mode
float mrpt::pbmap::config_heuristics::height_threshold

Definition at line 60 of file heuristicParams.h.

float mrpt::pbmap::config_heuristics::height_threshold_parallel

Definition at line 61 of file heuristicParams.h.

float mrpt::pbmap::config_heuristics::hue_threshold

Definition at line 48 of file heuristicParams.h.

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

float mrpt::pbmap::config_heuristics::intensity_threshold

Definition at line 47 of file heuristicParams.h.

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

unsigned mrpt::pbmap::config_heuristics::min_planes_recognition

Global parameter indicating the minimum required plane matches for place recognition

Definition at line 37 of file heuristicParams.h.

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

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 34 of file heuristicParams.h.

bool mrpt::pbmap::config_heuristics::use_completeness

Definition at line 39 of file heuristicParams.h.

bool mrpt::pbmap::config_heuristics::use_structure

Definition at line 38 of file heuristicParams.h.




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