Configuration of the algorithm:
Definition at line 53 of file CIncrementalMapPartitioner.h.
#include <mrpt/slam/CIncrementalMapPartitioner.h>
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float | partitionThreshold |
| The partition threshold for bisection in range [0,2], default=1.0.
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float | gridResolution |
| For the occupancy grid maps of each node, default=0.10.
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float | minDistForCorrespondence |
| Used in the computation of weights, default=0.20.
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float | minMahaDistForCorrespondence |
| Used in the computation of weights, default=2.0.
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bool | forceBisectionOnly |
| If set to true (default), 1 or 2 clusters will be returned.
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bool | useMapMatching |
| If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs.
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int | minimumNumberElementsEachCluster |
| If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1).
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static void | dumpVar_int (CStream &out, const char *varName, int v) |
| Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
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static void | dumpVar_float (CStream &out, const char *varName, float v) |
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static void | dumpVar_double (CStream &out, const char *varName, double v) |
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static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
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static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
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◆ TOptions()
mrpt::slam::CIncrementalMapPartitioner::TOptions::TOptions |
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Sets default values at object creation.
◆ dumpToConsole()
void mrpt::utils::CLoadableOptions::dumpToConsole |
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const |
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inherited |
◆ dumpToTextStream()
void mrpt::slam::CIncrementalMapPartitioner::TOptions::dumpToTextStream |
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mrpt::utils::CStream & |
out | ) |
const |
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virtual |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented from mrpt::utils::CLoadableOptions.
◆ dumpVar_bool()
static void mrpt::utils::CLoadableOptions::dumpVar_bool |
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CStream & |
out, |
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const char * |
varName, |
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bool |
v |
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staticprotectedinherited |
◆ dumpVar_double()
static void mrpt::utils::CLoadableOptions::dumpVar_double |
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CStream & |
out, |
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const char * |
varName, |
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double |
v |
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staticprotectedinherited |
◆ dumpVar_float()
static void mrpt::utils::CLoadableOptions::dumpVar_float |
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CStream & |
out, |
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const char * |
varName, |
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float |
v |
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) |
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staticprotectedinherited |
◆ dumpVar_int()
static void mrpt::utils::CLoadableOptions::dumpVar_int |
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CStream & |
out, |
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const char * |
varName, |
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int |
v |
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) |
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
◆ dumpVar_string()
static void mrpt::utils::CLoadableOptions::dumpVar_string |
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CStream & |
out, |
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const char * |
varName, |
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const std::string & |
v |
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staticprotectedinherited |
◆ loadFromConfigFile()
void mrpt::slam::CIncrementalMapPartitioner::TOptions::loadFromConfigFile |
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const mrpt::utils::CConfigFileBase & |
source, |
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const std::string & |
section |
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virtual |
This method load the options from a ".ini"-like file or memory-stored string list.
Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:
[section]
resolution = 0.10
modeSelection = 1
- See also
- loadFromConfigFileName, saveToConfigFile
Implements mrpt::utils::CLoadableOptions.
◆ loadFromConfigFileName()
void mrpt::utils::CLoadableOptions::loadFromConfigFileName |
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const std::string & |
config_file, |
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const std::string & |
section |
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) |
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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
◆ saveToConfigFile()
◆ saveToConfigFileName()
void mrpt::utils::CLoadableOptions::saveToConfigFileName |
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const std::string & |
config_file, |
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const std::string & |
section |
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) |
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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
◆ forceBisectionOnly
bool mrpt::slam::CIncrementalMapPartitioner::TOptions::forceBisectionOnly |
If set to true (default), 1 or 2 clusters will be returned.
Default=false -> Autodetermine the number of partitions.
Definition at line 80 of file CIncrementalMapPartitioner.h.
◆ gridResolution
float mrpt::slam::CIncrementalMapPartitioner::TOptions::gridResolution |
◆ minDistForCorrespondence
float mrpt::slam::CIncrementalMapPartitioner::TOptions::minDistForCorrespondence |
◆ minimumNumberElementsEachCluster
int mrpt::slam::CIncrementalMapPartitioner::TOptions::minimumNumberElementsEachCluster |
If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1).
Definition at line 87 of file CIncrementalMapPartitioner.h.
◆ minMahaDistForCorrespondence
float mrpt::slam::CIncrementalMapPartitioner::TOptions::minMahaDistForCorrespondence |
◆ partitionThreshold
float mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold |
◆ useMapMatching
bool mrpt::slam::CIncrementalMapPartitioner::TOptions::useMapMatching |
If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs.
Definition at line 84 of file CIncrementalMapPartitioner.h.