The ICP algorithm configuration data.
Definition at line 95 of file CGridMapAligner.h.
#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. |
mrpt::slam::CGridMapAligner::TConfigParams::TConfigParams | ( | ) |
Initializer for default values:
void mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream | ( | CStream & | out | ) | const [virtual] |
Implements mrpt::utils::CLoadableOptions.
void mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
Implements mrpt::utils::CLoadableOptions.
DEBUG - Save the pair of maps with all the pairings.
Definition at line 145 of file CGridMapAligner.h.
DEBUG - Show graphs with the details of each feature correspondences.
Definition at line 144 of file CGridMapAligner.h.
Features extraction from grid map: How many features to extract.
Definition at line 135 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 116 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 119 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 140 of file CGridMapAligner.h.
Maximum KL-divergence for merging modes of the SOG (default=0.9).
Definition at line 141 of file CGridMapAligner.h.
The aligner method:
Definition at line 113 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 139 of file CGridMapAligner.h.
[amModifiedRANSAC method only] The quantile used for chi-square thresholding (default=0.99)
Definition at line 132 of file CGridMapAligner.h.
[amRobustMatch method only] RANSAC-step options:
Definition at line 130 of file CGridMapAligner.h.
RANSAC-step options:
Definition at line 124 of file CGridMapAligner.h.
Probability of having a good inliers (def:0,9999), used for automatic number of iterations.
Definition at line 134 of file CGridMapAligner.h.
The square root of the uncertainty normalization variance var_m (see papers...).
Definition at line 125 of file CGridMapAligner.h.
DEBUG - Dump all feature correspondences in a directory "grid_feats".
Definition at line 143 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 137 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 136 of file CGridMapAligner.h.
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