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mrpt::monoslam::CMonoSlam::TOptions Struct Reference

All the options of Mono-SLAM, in a structure which can be changed manually or saved/loaded to/from a .ini file. More...

#include <mrpt/monoslam/CMonoSlam.h>

Inheritance diagram for mrpt::monoslam::CMonoSlam::TOptions:

mrpt::utils::CLoadableOptions

List of all members.

Public Member Functions

 TOptions ()
 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 verbose
 Show extra debug info to console.
bool save_data_files
 Save debug info to text files.
double match_threshold_up
 Top threshold for feature classification.
double match_threshold_down
 Botton threshold for feature classification.
double threshold_ini
 Minimum quality for a feature in the initialization.
double threshold_new
 Minimum quality for a feature in the searching of a new mark.
int radius
 Minimum radius between detected image features.
double sigma
 Sigma value in the Harris method.
unsigned int max_num_feat_to_detect
 max num of features to detect
double lambda_init
 Initial Inverse Depth estimation the first time a feature is observed.
double std_lambda
 Inverse Depth Variance for the first time a feature is observed.
double sigma_image_noise
 image noise in pixels


Detailed Description

All the options of Mono-SLAM, in a structure which can be changed manually or saved/loaded to/from a .ini file.

See also:
KF_options

Definition at line 124 of file CMonoSlam.h.


Constructor & Destructor Documentation

mrpt::monoslam::CMonoSlam::TOptions::TOptions (  ) 

Initilization of default parameters.


Member Function Documentation

void mrpt::monoslam::CMonoSlam::TOptions::dumpToTextStream ( CStream out  )  const [virtual]

void mrpt::monoslam::CMonoSlam::TOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [virtual]


Member Data Documentation

Initial Inverse Depth estimation the first time a feature is observed.

Definition at line 143 of file CMonoSlam.h.

Botton threshold for feature classification.

Definition at line 136 of file CMonoSlam.h.

Top threshold for feature classification.

Definition at line 135 of file CMonoSlam.h.

max num of features to detect

Definition at line 141 of file CMonoSlam.h.

Minimum radius between detected image features.

Definition at line 139 of file CMonoSlam.h.

Save debug info to text files.

Definition at line 134 of file CMonoSlam.h.

Sigma value in the Harris method.

Definition at line 140 of file CMonoSlam.h.

image noise in pixels

Definition at line 145 of file CMonoSlam.h.

Inverse Depth Variance for the first time a feature is observed.

Definition at line 144 of file CMonoSlam.h.

Minimum quality for a feature in the initialization.

Definition at line 137 of file CMonoSlam.h.

Minimum quality for a feature in the searching of a new mark.

Definition at line 138 of file CMonoSlam.h.

Show extra debug info to console.

Definition at line 133 of file CMonoSlam.h.




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