#include <mrpt/slam/CGridMapAligner.h>
Public Member Functions | |
TConfigParams () | |
Initializer for default values:. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
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. |
Definition at line 92 of file CGridMapAligner.h.
mrpt::slam::CGridMapAligner::TConfigParams::TConfigParams | ( | ) |
Initializer for default values:.
void mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream | ( | CStream & | out | ) | const [virtual] |
void mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
DEBUG - Save the pair of maps with all the pairings.
Definition at line 142 of file CGridMapAligner.h.
DEBUG - Show graphs with the details of each feature correspondences.
Definition at line 141 of file CGridMapAligner.h.
Features extraction from grid map: How many features to extract.
Definition at line 132 of file CGridMapAligner.h.
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.
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.
Maximum KL-divergence for merging modes of the SOG (default=0.9).
Definition at line 138 of file CGridMapAligner.h.
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.
[amModifiedRANSAC method only] The quantile used for chi-square thresholding (default=0.99)
Definition at line 129 of file CGridMapAligner.h.
[amRobustMatch method only] RANSAC-step options:
Definition at line 127 of file CGridMapAligner.h.
RANSAC-step options:.
Definition at line 121 of file CGridMapAligner.h.
Probability of having a good inliers (def:0,9999), used for automatic number of iterations.
Definition at line 131 of file CGridMapAligner.h.
The square root of the uncertainty normalization variance var_m (see papers...).
Definition at line 122 of file CGridMapAligner.h.
DEBUG - Dump all feature correspondences in a directory "grid_feats".
Definition at line 140 of file CGridMapAligner.h.
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.
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.
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