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mrpt::slam::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::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 (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.


Detailed Description

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

Definition at line 203 of file CLandmarksMap.h.


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 230 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 222 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 226 of file CLandmarksMap.h.

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

Definition at line 285 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 234 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 243 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 255 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 238 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 249 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 281 of file CLandmarksMap.h.

Number of points to extract in the image.

Definition at line 273 of file CLandmarksMap.h.

Definition at line 269 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 269 of file CLandmarksMap.h.

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

Definition at line 277 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 261 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 265 of file CLandmarksMap.h.




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