Detailed Description

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE, class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>
struct mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters

Different parameters for the SRBA methods.

Definition at line 373 of file RbaEngine.h.

#include <mrpt/srba/RbaEngine.h>

Inheritance diagram for mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters:

Public Member Functions
	TSRBAParameters ()

virtual void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See docs of mrpt::utils::CLoadableOptions. More...

virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &out, const std::string &section) const
	See docs of mrpt::utils::CLoadableOptions. More...

void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...

void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...

void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...

virtual void	dumpToTextStream (CStream &out) const
	This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...

Public Attributes
TEdgeCreationPolicy	edge_creation_policy
	Parameters for determine_kf2kf_edges_to_create(); custom user-defined policies can be also defined (see tutorials) More...

topo_dist_t	max_tree_depth
	Maximum depth for maintained spanning trees. More...

topo_dist_t	max_optimize_depth
	The maximum topological distance of keyframes to be optimized around the most recent keyframe. More...

size_t	submap_size

size_t	min_obs_to_loop_closure
	Default:6, reduce to 1 for relative graph-slam. More...

bool	optimize_new_edges_alone
	(Default:true) Before running a whole "local area" optimization, try to optimize new edges one by one to have a better starting point. More...

bool	use_robust_kernel

bool	use_robust_kernel_stage1

double	kernel_param

size_t	max_iters

double	max_error_per_obs_to_stop
	default: 1e-9 More...

double	max_rho
	default: 1.0 More...

double	max_lambda
	default: 1e20 More...

double	min_error_reduction_ratio_to_relinearize
	default 0.01 More...

bool	numeric_jacobians
	(Default:false) Use a numeric approximation of the Jacobians (very slow!) instead of analytical ones. More...

void(*	feedback_user_iteration )(unsigned int iter, const double total_sq_err, const double mean_sqroot_error)

bool	compute_condition_number
	Compute and return to the user the Hessian condition number of k2k edges (default=false) More...

TCovarianceRecoveryPolicy	cov_recovery
	Recover covariance? What method to use? (Default: crpLandmarksApprox) More...

Static Protected Member Functions
static void	dumpVar_int (CStream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...

static void	dumpVar_float (CStream &out, const char *varName, float v)

static void	dumpVar_double (CStream &out, const char *varName, double v)

static void	dumpVar_bool (CStream &out, const char *varName, bool v)

static void	dumpVar_string (CStream &out, const char *varName, const std::string &v)

Constructor & Destructor Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS >

mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters::TSRBAParameters ( )

Definition at line 34 of file rba_problem_common.h.

Member Function Documentation

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

virtual void mrpt::utils::CLoadableOptions::dumpToTextStream ( CStream & out ) const

virtualinherited

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.

static void mrpt::utils::CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

static void mrpt::utils::CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS >

void mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

virtual

See docs of mrpt::utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

Definition at line 60 of file rba_problem_common.h.

References mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::edge_creation_policy(), MRPT_LOAD_CONFIG_VAR, and mrpt::utils::CConfigFileBase::read_enum().

void mrpt::utils::CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

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

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS >

void mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	out,
		const std::string &	section
	)		const

virtual

See docs of mrpt::utils::CLoadableOptions.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 82 of file rba_problem_common.h.

References mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::edge_creation_policy(), and mrpt::utils::CConfigFileBase::write().

void mrpt::utils::CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

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