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mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions Struct Reference

With this struct options are provided to the observation insertion process. More...

#include <mrpt/slam/CLandmarksMap.h>

Inheritance diagram for mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions:

mrpt::utils::CLoadableOptions

List of all members.

Public Member Functions

 TInsertionOptions ()
 Initilization of default parameters.
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions.
void dumpToTextStream (utils::CStream &out)
 See utils::CLoadableOptions.

Public Attributes

bool insert_SIFTs_from_monocular_images
 If set to true (default), the insertion of a CObservationImage in the map will insert SIFT 3D features.
bool insert_SIFTs_from_stereo_images
 If set to true (default), the insertion of a CObservationStereoImages in the map will insert SIFT 3D features.
bool insert_Landmarks_from_range_scans
 If set to true (default), inserting a CObservation2DRangeScan in the map will generate landmarks for each range.
float SiftCorrRatioThreshold
 [For SIFT landmarks only] The ratio between the best and second best descriptor distances to set as correspondence (Default=0.4)
float SiftLikelihoodThreshold
 [For SIFT landmarks only] The minimum likelihood value of a match to set as correspondence (Default=0.5)
float SiftEDDThreshold
 [For SIFT landmarks only] The minimum Euclidean Descriptor Distance value of a match to set as correspondence (Default=200)
unsigned int SIFTMatching3DMethod
 [For SIFT landmarks only] Method to compute 3D matching (Default = 0 (Our method)) 0: Our method -> Euclidean Distance between Descriptors and 3D position 1: Sim, Elinas, Griffin, Little -> Euclidean Distance between Descriptors
unsigned int SIFTLikelihoodMethod
 [For SIFT landmarks only] Method to compute the likelihood (Default = 0 (Our method)) 0: Our method -> Euclidean Distance between Descriptors and 3D position 1: Sim, Elinas, Griffin, Little -> 3D position
float SIFTsLoadDistanceOfTheMean
 [For SIFT landmarks only] The distance (in meters) of the mean value of landmarks, for the initial position PDF (Default = 3m)
float SIFTsLoadEllipsoidWidth
 [For SIFT landmarks only] The width (in meters, standard deviation) of the ellipsoid in the axis perpendicular to the main directiom (Default = 0.05f)
float SIFTs_stdXY
 [For SIFT landmarks only] The standard deviation (in pixels) for the SIFTs detector (This is used for the Jacobbian to project stereo images to 3D)
float SIFTs_stdDisparity
int SIFTs_numberOfKLTKeypoints
 Number of points to extract in the image.
float SIFTs_stereo_maxDepth
 Maximum depth of 3D landmarks when loading a landmarks map from a stereo image observation.
float SIFTs_epipolar_TH
 Maximum distance (in pixels) from a point to a certain epipolar line to be considered a potential match.
bool PLOT_IMAGES
 Indicates if the images (as well as the SIFT detected features) should be shown in a window.


Detailed Description

With this struct options are provided to the observation insertion process.

Definition at line 199 of file CLandmarksMap.h.


Constructor & Destructor Documentation

mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::TInsertionOptions (  ) 

Initilization of default parameters.


Member Function Documentation

void mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::dumpToTextStream ( utils::CStream out  )  [virtual]

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


Member Data Documentation

bool mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::insert_Landmarks_from_range_scans

If set to true (default), inserting a CObservation2DRangeScan in the map will generate landmarks for each range.

Definition at line 226 of file CLandmarksMap.h.

bool mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::insert_SIFTs_from_monocular_images

If set to true (default), the insertion of a CObservationImage in the map will insert SIFT 3D features.

Definition at line 218 of file CLandmarksMap.h.

bool mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::insert_SIFTs_from_stereo_images

If set to true (default), the insertion of a CObservationStereoImages in the map will insert SIFT 3D features.

Definition at line 222 of file CLandmarksMap.h.

bool mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::PLOT_IMAGES

Indicates if the images (as well as the SIFT detected features) should be shown in a window.

Definition at line 281 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::SiftCorrRatioThreshold

[For SIFT landmarks only] The ratio between the best and second best descriptor distances to set as correspondence (Default=0.4)

Definition at line 230 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::SiftEDDThreshold

[For SIFT landmarks only] The minimum Euclidean Descriptor Distance value of a match to set as correspondence (Default=200)

Definition at line 239 of file CLandmarksMap.h.

unsigned int mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::SIFTLikelihoodMethod

[For SIFT landmarks only] Method to compute the likelihood (Default = 0 (Our method)) 0: Our method -> Euclidean Distance between Descriptors and 3D position 1: Sim, Elinas, Griffin, Little -> 3D position

Definition at line 251 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::SiftLikelihoodThreshold

[For SIFT landmarks only] The minimum likelihood value of a match to set as correspondence (Default=0.5)

Definition at line 234 of file CLandmarksMap.h.

unsigned int mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::SIFTMatching3DMethod

[For SIFT landmarks only] Method to compute 3D matching (Default = 0 (Our method)) 0: Our method -> Euclidean Distance between Descriptors and 3D position 1: Sim, Elinas, Griffin, Little -> Euclidean Distance between Descriptors

Definition at line 245 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::SIFTs_epipolar_TH

Maximum distance (in pixels) from a point to a certain epipolar line to be considered a potential match.

Definition at line 277 of file CLandmarksMap.h.

int mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::SIFTs_numberOfKLTKeypoints

Number of points to extract in the image.

Definition at line 269 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::SIFTs_stdDisparity

Definition at line 265 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::SIFTs_stdXY

[For SIFT landmarks only] The standard deviation (in pixels) for the SIFTs detector (This is used for the Jacobbian to project stereo images to 3D)

Definition at line 265 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::SIFTs_stereo_maxDepth

Maximum depth of 3D landmarks when loading a landmarks map from a stereo image observation.

Definition at line 273 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::SIFTsLoadDistanceOfTheMean

[For SIFT landmarks only] The distance (in meters) of the mean value of landmarks, for the initial position PDF (Default = 3m)

Definition at line 257 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::CLandmarksMap::TInsertionOptions::SIFTsLoadEllipsoidWidth

[For SIFT landmarks only] The width (in meters, standard deviation) of the ellipsoid in the axis perpendicular to the main directiom (Default = 0.05f)

Definition at line 261 of file CLandmarksMap.h.




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