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mrpt::maps::CLandmarksMap::TInsertionOptions Struct Reference

Detailed Description

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

Definition at line 183 of file maps/CLandmarksMap.h.

#include <mrpt/maps/CLandmarksMap.h>

Inheritance diagram for mrpt::maps::CLandmarksMap::TInsertionOptions:
Inheritance graph

Public Member Functions

 TInsertionOptions ()
 Initilization of default parameters. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const
 See utils::CLoadableOptions. More...
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) const
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout) More...
 

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. More...
 
bool insert_SIFTs_from_stereo_images
 If set to true (default), the insertion of a CObservationStereoImages in the map will insert SIFT 3D features. More...
 
bool insert_Landmarks_from_range_scans
 If set to true (default), inserting a CObservation2DRangeScan in the map will generate landmarks for each range. More...
 
float SiftCorrRatioThreshold
 [For SIFT landmarks only] The ratio between the best and second best descriptor distances to set as correspondence (Default=0.4) More...
 
float SiftLikelihoodThreshold
 [For SIFT landmarks only] The minimum likelihood value of a match to set as correspondence (Default=0.5) More...
 
float SiftEDDThreshold
 [For SIFT landmarks only] The minimum Euclidean Descriptor Distance value of a match to set as correspondence (Default=200) More...
 
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 More...
 
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 More...
 
float SIFTsLoadDistanceOfTheMean
 [For SIFT landmarks only] The distance (in meters) of the mean value of landmarks, for the initial position PDF (Default = 3m) More...
 
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) More...
 
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) More...
 
float SIFTs_stdDisparity
 
int SIFTs_numberOfKLTKeypoints
 Number of points to extract in the image. More...
 
float SIFTs_stereo_maxDepth
 Maximum depth of 3D landmarks when loading a landmarks map from a stereo image observation. More...
 
float SIFTs_epipolar_TH
 Maximum distance (in pixels) from a point to a certain epipolar line to be considered a potential match. More...
 
bool PLOT_IMAGES
 Indicates if the images (as well as the SIFT detected features) should be shown in a window. More...
 
mrpt::vision::CFeatureExtraction::TOptions SIFT_feat_options
 Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map. More...
 

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

mrpt::maps::CLandmarksMap::TInsertionOptions::TInsertionOptions ( )

Initilization of default parameters.

Member Function Documentation

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

void mrpt::maps::CLandmarksMap::TInsertionOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual
static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited
void mrpt::maps::CLandmarksMap::TInsertionOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)
virtual
void mrpt::utils::CLoadableOptions::loadFromConfigFileName ( const std::string &  config_file,
const std::string &  section 
)
inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also
loadFromConfigFile
virtual void mrpt::utils::CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string &  section 
) const
virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.

void mrpt::utils::CLoadableOptions::saveToConfigFileName ( const std::string &  config_file,
const std::string &  section 
) const
inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also
saveToConfigFile, loadFromConfigFileName

Member Data Documentation

bool mrpt::maps::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 210 of file maps/CLandmarksMap.h.

bool mrpt::maps::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 202 of file maps/CLandmarksMap.h.

bool mrpt::maps::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 206 of file maps/CLandmarksMap.h.

bool mrpt::maps::CLandmarksMap::TInsertionOptions::PLOT_IMAGES

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

Definition at line 265 of file maps/CLandmarksMap.h.

mrpt::vision::CFeatureExtraction::TOptions mrpt::maps::CLandmarksMap::TInsertionOptions::SIFT_feat_options

Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map.

Note
There exists another SIFT_feat_options field in the likelihoodOptions member.
All parameters of this field can be loaded from a config file. See mrpt::vision::CFeatureExtraction::TOptions for the names of the expected fields.

Definition at line 271 of file maps/CLandmarksMap.h.

float mrpt::maps::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 214 of file maps/CLandmarksMap.h.

float mrpt::maps::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 223 of file maps/CLandmarksMap.h.

unsigned int mrpt::maps::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 235 of file maps/CLandmarksMap.h.

float mrpt::maps::CLandmarksMap::TInsertionOptions::SiftLikelihoodThreshold

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

Definition at line 218 of file maps/CLandmarksMap.h.

unsigned int mrpt::maps::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 229 of file maps/CLandmarksMap.h.

float mrpt::maps::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 261 of file maps/CLandmarksMap.h.

int mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTs_numberOfKLTKeypoints

Number of points to extract in the image.

Definition at line 253 of file maps/CLandmarksMap.h.

float mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTs_stdDisparity

Definition at line 249 of file maps/CLandmarksMap.h.

float mrpt::maps::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 249 of file maps/CLandmarksMap.h.

float mrpt::maps::CLandmarksMap::TInsertionOptions::SIFTs_stereo_maxDepth

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

Definition at line 257 of file maps/CLandmarksMap.h.

float mrpt::maps::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 241 of file maps/CLandmarksMap.h.

float mrpt::maps::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 245 of file maps/CLandmarksMap.h.




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