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


Detailed Description

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

Definition at line 208 of file CLandmarksMap.h.

#include <mrpt/slam/CLandmarksMap.h>

Inheritance diagram for mrpt::slam::CLandmarksMap::TInsertionOptions:
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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 (CStream &out) const
 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.

Constructor & Destructor Documentation

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

Initilization of default parameters.


Member Function Documentation

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

Member Data Documentation

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

Definition at line 235 of file CLandmarksMap.h.

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

Definition at line 227 of file CLandmarksMap.h.

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

Definition at line 231 of file CLandmarksMap.h.

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

Definition at line 290 of file CLandmarksMap.h.

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

Definition at line 239 of file CLandmarksMap.h.

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

Definition at line 248 of file CLandmarksMap.h.

[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 260 of file CLandmarksMap.h.

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

Definition at line 243 of file CLandmarksMap.h.

[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 254 of file CLandmarksMap.h.

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

Definition at line 286 of file CLandmarksMap.h.

Number of points to extract in the image.

Definition at line 278 of file CLandmarksMap.h.

Definition at line 274 of file CLandmarksMap.h.

[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 274 of file CLandmarksMap.h.

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

Definition at line 282 of file CLandmarksMap.h.

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

Definition at line 266 of file CLandmarksMap.h.

[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 270 of file CLandmarksMap.h.




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