mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams Class Reference

The ICP algorithm configuration data. More...

#include <mrpt/slam/CGridMapAligner.h>

Inheritance diagram for mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams:

List of all members.

Public Member Functions
	TConfigParams ()
	Initializer for default values:.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (CStream &out)
	See utils::CLoadableOptions.
Public Attributes
TAlignerMethod	methodSelection
	The aligner method:.
unsigned int	ransac_minSetSize
	RANSAC-step options:.
unsigned int	ransac_maxSetSize
float	ransac_SOG_sigma_m
	The square root of the uncertainty normalization variance var_m (see papers.
float	ransac_mahalanobisDistanceThreshold
	RANSAC-step options:.
float	featsPerSquareMeter
	Features extraction from grid map: How many features to extract.
unsigned int	feats_DirectionSectors
	Features extraction from grid map: Number of directions sectors.
unsigned int	feats_RangeSectors
	Features extraction from grid map: Number of range sectors.
float	feats_startDist
	Features extraction from grid map: Closer distance.
float	feats_endDist
	Features extraction from grid map: Farthest distance.
float	threshold
	Correspondences are considered if their distances are below this threshold (in the range 0-0.5) (default=0.13).
float	min_ICP_goodness
	The minimum goodness (0-1) of the post-matching ICP to accept a hypothesis as good (default=0.25).
double	maxKLd_for_merge
	Maximum KL-divergence for merging modes of the SOG (default=0.9).
bool	save_feat_coors
	Dump all feature correspondences in a directory "grid_feats".
bool	debug_show_corrs
	Show graphs with the details of each feature correspondences.
bool	debug_save_map_pairs
	Save the pair of maps with all the pairings.

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Detailed Description

The ICP algorithm configuration data.

Definition at line 91 of file CGridMapAligner.h.

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Constructor & Destructor Documentation

mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::TConfigParams

(

)

Initializer for default values:.

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Member Function Documentation

void mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::dumpToTextStream

(

CStream &

out

)

[virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

void mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)			[virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

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Member Data Documentation

bool mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::debug_save_map_pairs

Save the pair of maps with all the pairings.

Definition at line 160 of file CGridMapAligner.h.

bool mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::debug_show_corrs

Show graphs with the details of each feature correspondences.

Definition at line 159 of file CGridMapAligner.h.

unsigned int mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::feats_DirectionSectors

Features extraction from grid map: Number of directions sectors.

Definition at line 134 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::feats_endDist

Features extraction from grid map: Farthest distance.

Definition at line 146 of file CGridMapAligner.h.

unsigned int mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::feats_RangeSectors

Features extraction from grid map: Number of range sectors.

Definition at line 138 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::feats_startDist

Features extraction from grid map: Closer distance.

Definition at line 142 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::featsPerSquareMeter

Features extraction from grid map: How many features to extract.

Definition at line 130 of file CGridMapAligner.h.

double mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::maxKLd_for_merge

Maximum KL-divergence for merging modes of the SOG (default=0.9).

Definition at line 156 of file CGridMapAligner.h.

TAlignerMethod mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::methodSelection

The aligner method:.

Definition at line 112 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::min_ICP_goodness

The minimum goodness (0-1) of the post-matching ICP to accept a hypothesis as good (default=0.25).

Definition at line 153 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::ransac_mahalanobisDistanceThreshold

RANSAC-step options:.

See also:

CICP::robustRigidTransformation

Definition at line 126 of file CGridMapAligner.h.

unsigned int mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::ransac_maxSetSize

Definition at line 117 of file CGridMapAligner.h.

unsigned int mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::ransac_minSetSize

RANSAC-step options:.

See also:

CICP::robustRigidTransformation

Definition at line 117 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::ransac_SOG_sigma_m

The square root of the uncertainty normalization variance var_m (see papers.

..)

Definition at line 121 of file CGridMapAligner.h.

bool mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::save_feat_coors

Dump all feature correspondences in a directory "grid_feats".

Definition at line 158 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::CGridMapAligner::TConfigParams::threshold

Correspondences are considered if their distances are below this threshold (in the range 0-0.5) (default=0.13).

Definition at line 150 of file CGridMapAligner.h.