mrpt::monoslam::CMonoSlam::TOptions Struct Reference

All the options of Mono-SLAM, in a structure which can be changed manually or saved/loaded to/from a .ini file. More...

#include <mrpt/monoslam/CMonoSlam.h>

Inheritance diagram for mrpt::monoslam::CMonoSlam::TOptions:

List of all members.

Public Member Functions
	TOptions ()
	Initilization of default parameters.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.
Public Attributes
bool	verbose
	Show extra debug info to console.
bool	save_data_files
	Save debug info to text files.
double	match_threshold_up
	Top threshold for feature classification.
double	match_threshold_down
	Botton threshold for feature classification.
double	threshold_ini
	Minimum quality for a feature in the initialization.
double	threshold_new
	Minimum quality for a feature in the searching of a new mark.
int	radius
	Minimum radius between detected image features.
double	sigma
	Sigma value in the Harris method.
unsigned int	max_num_feat_to_detect
	max num of features to detect
double	lambda_init
	Initial Inverse Depth estimation the first time a feature is observed.
double	std_lambda
	Inverse Depth Variance for the first time a feature is observed.
double	sigma_image_noise
	image noise in pixels

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Detailed Description

All the options of Mono-SLAM, in a structure which can be changed manually or saved/loaded to/from a .ini file.

See also:

KF_options

Definition at line 124 of file CMonoSlam.h.

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Constructor & Destructor Documentation

mrpt::monoslam::CMonoSlam::TOptions::TOptions

(

)

Initilization of default parameters.

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Member Function Documentation

void mrpt::monoslam::CMonoSlam::TOptions::dumpToTextStream

(

CStream &

out

)

const [virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

void mrpt::monoslam::CMonoSlam::TOptions::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

double mrpt::monoslam::CMonoSlam::TOptions::lambda_init

Initial Inverse Depth estimation the first time a feature is observed.

Definition at line 143 of file CMonoSlam.h.

double mrpt::monoslam::CMonoSlam::TOptions::match_threshold_down

Botton threshold for feature classification.

Definition at line 136 of file CMonoSlam.h.

double mrpt::monoslam::CMonoSlam::TOptions::match_threshold_up

Top threshold for feature classification.

Definition at line 135 of file CMonoSlam.h.

unsigned int mrpt::monoslam::CMonoSlam::TOptions::max_num_feat_to_detect

max num of features to detect

Definition at line 141 of file CMonoSlam.h.

int mrpt::monoslam::CMonoSlam::TOptions::radius

Minimum radius between detected image features.

Definition at line 139 of file CMonoSlam.h.

bool mrpt::monoslam::CMonoSlam::TOptions::save_data_files

Save debug info to text files.

Definition at line 134 of file CMonoSlam.h.

double mrpt::monoslam::CMonoSlam::TOptions::sigma

Sigma value in the Harris method.

Definition at line 140 of file CMonoSlam.h.

double mrpt::monoslam::CMonoSlam::TOptions::sigma_image_noise

image noise in pixels

Definition at line 145 of file CMonoSlam.h.

double mrpt::monoslam::CMonoSlam::TOptions::std_lambda

Inverse Depth Variance for the first time a feature is observed.

Definition at line 144 of file CMonoSlam.h.

double mrpt::monoslam::CMonoSlam::TOptions::threshold_ini

Minimum quality for a feature in the initialization.

Definition at line 137 of file CMonoSlam.h.

double mrpt::monoslam::CMonoSlam::TOptions::threshold_new

Minimum quality for a feature in the searching of a new mark.

Definition at line 138 of file CMonoSlam.h.

bool mrpt::monoslam::CMonoSlam::TOptions::verbose

Show extra debug info to console.

Definition at line 133 of file CMonoSlam.h.