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

The ICP algorithm configuration data. More...

#include <mrpt/slam/CGridMapAligner.h>

Inheritance diagram for mrpt::slam::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) const
	See utils::CLoadableOptions.
Public Attributes
TAlignerMethod	methodSelection
	The aligner method:.
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.
mrpt::vision::CFeatureExtraction::TOptions	feature_detector_options
	All the parameters for the feature detector.
float	ransac_minSetSizeRatio
	RANSAC-step options:.
float	ransac_SOG_sigma_m
	The square root of the uncertainty normalization variance var_m (see papers...).
float	ransac_mahalanobisDistanceThreshold
	[amRobustMatch method only] RANSAC-step options:
double	ransac_chi2_quantile
	[amModifiedRANSAC method only] The quantile used for chi-square thresholding (default=0.99)
double	ransac_prob_good_inliers
	Probability of having a good inliers (def:0,9999), used for automatic number of iterations.
float	featsPerSquareMeter
	Features extraction from grid map: How many features to extract.
float	threshold_max
	Correspondences are considered if their distances are below this threshold (in the range [0,1]) (default=0.15).
float	threshold_delta
	Correspondences are considered if their distances to the best match are below this threshold (in the range [0,1]) (default=0.15).
float	min_ICP_goodness
	The minimum goodness (0-1) of the post-matching ICP to accept a hypothesis as good (default=0.25).
double	max_ICP_mahadist
	The maximum Mahalanobis distance between the initial and final poses in the ICP not to discard the hypothesis (default=10).
double	maxKLd_for_merge
	Maximum KL-divergence for merging modes of the SOG (default=0.9).
bool	save_feat_coors
	DEBUG - Dump all feature correspondences in a directory "grid_feats".
bool	debug_show_corrs
	DEBUG - Show graphs with the details of each feature correspondences.
bool	debug_save_map_pairs
	DEBUG - Save the pair of maps with all the pairings.

---

Detailed Description

The ICP algorithm configuration data.

Definition at line 92 of file CGridMapAligner.h.

---

Constructor & Destructor Documentation

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

(

)

Initializer for default values:.

---

Member Function Documentation

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

(

CStream &

out

)

const [virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

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

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

---

Member Data Documentation

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

DEBUG - Save the pair of maps with all the pairings.

Definition at line 142 of file CGridMapAligner.h.

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

DEBUG - Show graphs with the details of each feature correspondences.

Definition at line 141 of file CGridMapAligner.h.

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

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

Definition at line 132 of file CGridMapAligner.h.

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 113 of file CGridMapAligner.h.

mrpt::vision::CFeatureExtraction::TOptions mrpt::slam::CGridMapAligner::TConfigParams::feature_detector_options

All the parameters for the feature detector.

Definition at line 116 of file CGridMapAligner.h.

double mrpt::slam::CGridMapAligner::TConfigParams::max_ICP_mahadist

The maximum Mahalanobis distance between the initial and final poses in the ICP not to discard the hypothesis (default=10).

Definition at line 137 of file CGridMapAligner.h.

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

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

Definition at line 138 of file CGridMapAligner.h.

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

The aligner method:.

Definition at line 110 of file CGridMapAligner.h.

float mrpt::slam::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 136 of file CGridMapAligner.h.

double mrpt::slam::CGridMapAligner::TConfigParams::ransac_chi2_quantile

[amModifiedRANSAC method only] The quantile used for chi-square thresholding (default=0.99)

Definition at line 129 of file CGridMapAligner.h.

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

[amRobustMatch method only] RANSAC-step options:

See also:

CICP::robustRigidTransformation

Definition at line 127 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::TConfigParams::ransac_minSetSizeRatio

RANSAC-step options:.

See also:

CICP::robustRigidTransformation The ratio of landmarks that must be inliers to accepto an hypotheses (typ: 0.20)

Definition at line 121 of file CGridMapAligner.h.

double mrpt::slam::CGridMapAligner::TConfigParams::ransac_prob_good_inliers

Probability of having a good inliers (def:0,9999), used for automatic number of iterations.

Definition at line 131 of file CGridMapAligner.h.

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

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

Definition at line 122 of file CGridMapAligner.h.

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

DEBUG - Dump all feature correspondences in a directory "grid_feats".

Definition at line 140 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::TConfigParams::threshold_delta

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 134 of file CGridMapAligner.h.

float mrpt::slam::CGridMapAligner::TConfigParams::threshold_max

Correspondences are considered if their distances are below this threshold (in the range [0,1]) (default=0.15).

Definition at line 133 of file CGridMapAligner.h.