StereoVslamNodeConfig.h
Go to the documentation of this file.00001 //#line 2 "/opt/ros/diamondback/stacks/driver_common/dynamic_reconfigure/templates/ConfigType.h" 00002 // ********************************************************* 00003 // 00004 // File autogenerated for the vslam_system package 00005 // by the dynamic_reconfigure package. 00006 // Please do not edit. 00007 // 00008 // ********************************************************/ 00009 00010 /*********************************************************** 00011 * Software License Agreement (BSD License) 00012 * 00013 * Copyright (c) 2008, Willow Garage, Inc. 00014 * All rights reserved. 00015 * 00016 * Redistribution and use in source and binary forms, with or without 00017 * modification, are permitted provided that the following conditions 00018 * are met: 00019 * 00020 * * Redistributions of source code must retain the above copyright 00021 * notice, this list of conditions and the following disclaimer. 00022 * * Redistributions in binary form must reproduce the above 00023 * copyright notice, this list of conditions and the following 00024 * disclaimer in the documentation and/or other materials provided 00025 * with the distribution. 00026 * * Neither the name of the Willow Garage nor the names of its 00027 * contributors may be used to endorse or promote products derived 00028 * from this software without specific prior written permission. 00029 * 00030 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00031 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00032 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00033 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00034 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00035 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00036 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00037 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00038 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00039 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00040 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00041 * POSSIBILITY OF SUCH DAMAGE. 00042 ***********************************************************/ 00043 00044 // Author: Blaise Gassend 00045 00046 00047 #ifndef __vslam_system__STEREOVSLAMNODECONFIG_H__ 00048 #define __vslam_system__STEREOVSLAMNODECONFIG_H__ 00049 00050 #include <dynamic_reconfigure/config_tools.h> 00051 #include <limits> 00052 #include <ros/node_handle.h> 00053 #include <dynamic_reconfigure/ConfigDescription.h> 00054 #include <dynamic_reconfigure/ParamDescription.h> 00055 #include <dynamic_reconfigure/config_init_mutex.h> 00056 00057 namespace vslam_system 00058 { 00059 class StereoVslamNodeConfigStatics; 00060 00061 class StereoVslamNodeConfig 00062 { 00063 public: 00064 class AbstractParamDescription : public dynamic_reconfigure::ParamDescription 00065 { 00066 public: 00067 AbstractParamDescription(std::string n, std::string t, uint32_t l, 00068 std::string d, std::string e) 00069 { 00070 name = n; 00071 type = t; 00072 level = l; 00073 description = d; 00074 edit_method = e; 00075 } 00076 00077 virtual void clamp(StereoVslamNodeConfig &config, const StereoVslamNodeConfig &max, const StereoVslamNodeConfig &min) const = 0; 00078 virtual void calcLevel(uint32_t &level, const StereoVslamNodeConfig &config1, const StereoVslamNodeConfig &config2) const = 0; 00079 virtual void fromServer(const ros::NodeHandle &nh, StereoVslamNodeConfig &config) const = 0; 00080 virtual void toServer(const ros::NodeHandle &nh, const StereoVslamNodeConfig &config) const = 0; 00081 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, StereoVslamNodeConfig &config) const = 0; 00082 virtual void toMessage(dynamic_reconfigure::Config &msg, const StereoVslamNodeConfig &config) const = 0; 00083 }; 00084 00085 typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr; 00086 typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr; 00087 00088 template <class T> 00089 class ParamDescription : public AbstractParamDescription 00090 { 00091 public: 00092 ParamDescription(std::string name, std::string type, uint32_t level, 00093 std::string description, std::string edit_method, T StereoVslamNodeConfig::* f) : 00094 AbstractParamDescription(name, type, level, description, edit_method), 00095 field(f) 00096 {} 00097 00098 T (StereoVslamNodeConfig::* field); 00099 00100 virtual void clamp(StereoVslamNodeConfig &config, const StereoVslamNodeConfig &max, const StereoVslamNodeConfig &min) const 00101 { 00102 if (config.*field > max.*field) 00103 config.*field = max.*field; 00104 00105 if (config.*field < min.*field) 00106 config.*field = min.*field; 00107 } 00108 00109 virtual void calcLevel(uint32_t &comb_level, const StereoVslamNodeConfig &config1, const StereoVslamNodeConfig &config2) const 00110 { 00111 if (config1.*field != config2.*field) 00112 comb_level |= level; 00113 } 00114 00115 virtual void fromServer(const ros::NodeHandle &nh, StereoVslamNodeConfig &config) const 00116 { 00117 nh.getParam(name, config.*field); 00118 } 00119 00120 virtual void toServer(const ros::NodeHandle &nh, const StereoVslamNodeConfig &config) const 00121 { 00122 nh.setParam(name, config.*field); 00123 } 00124 00125 virtual bool fromMessage(const dynamic_reconfigure::Config &msg, StereoVslamNodeConfig &config) const 00126 { 00127 return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field); 00128 } 00129 00130 virtual void toMessage(dynamic_reconfigure::Config &msg, const StereoVslamNodeConfig &config) const 00131 { 00132 dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field); 00133 } 00134 }; 00135 00136 //#line 12 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00137 std::string detector; 00138 //#line 14 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00139 int fast_threshold; 00140 //#line 15 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00141 bool fast_nonmax_suppression; 00142 //#line 17 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00143 int harris_max_keypoints; 00144 //#line 18 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00145 int harris_block_size; 00146 //#line 19 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00147 double harris_min_distance; 00148 //#line 20 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00149 double harris_quality_level; 00150 //#line 21 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00151 double harris_k; 00152 //#line 23 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00153 int star_max_size; 00154 //#line 24 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00155 int star_response_threshold; 00156 //#line 25 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00157 int star_line_threshold_projected; 00158 //#line 26 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00159 int star_line_threshold_binarized; 00160 //#line 27 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00161 int star_suppress_nonmax_size; 00162 //#line 29 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00163 double surf_hessian_threshold; 00164 //#line 30 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00165 int surf_octaves; 00166 //#line 31 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00167 int surf_octave_layers; 00168 //#line 33 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00169 bool grid_adapter; 00170 //#line 34 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00171 int grid_max_keypoints; 00172 //#line 35 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00173 int grid_rows; 00174 //#line 36 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00175 int grid_cols; 00176 //#line 40 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00177 int vo_ransac_iterations; 00178 //#line 41 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00179 bool vo_polish; 00180 //#line 43 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00181 int vo_window_x; 00182 //#line 44 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00183 int vo_window_y; 00184 //#line 46 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00185 double min_keyframe_dist; 00186 //#line 47 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00187 double min_keyframe_angle; 00188 //#line 48 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00189 int min_inliers; 00190 //#line 52 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00191 int pr_ransac_iterations; 00192 //#line 53 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00193 bool pr_polish; 00194 //#line 55 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00195 int pr_window_x; 00196 //#line 56 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00197 int pr_window_y; 00198 //#line 58 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00199 int pr_skip; 00200 //#line 59 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00201 int pr_inliers; 00202 //#line 138 "/opt/ros/diamondback/stacks/driver_common/dynamic_reconfigure/templates/ConfigType.h" 00203 00204 bool __fromMessage__(dynamic_reconfigure::Config &msg) 00205 { 00206 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__(); 00207 int count = 0; 00208 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++) 00209 if ((*i)->fromMessage(msg, *this)) 00210 count++; 00211 if (count != dynamic_reconfigure::ConfigTools::size(msg)) 00212 { 00213 ROS_ERROR("StereoVslamNodeConfig::__fromMessage__ called with an unexpected parameter."); 00214 ROS_ERROR("Booleans:"); 00215 for (unsigned int i = 0; i < msg.bools.size(); i++) 00216 ROS_ERROR(" %s", msg.bools[i].name.c_str()); 00217 ROS_ERROR("Integers:"); 00218 for (unsigned int i = 0; i < msg.ints.size(); i++) 00219 ROS_ERROR(" %s", msg.ints[i].name.c_str()); 00220 ROS_ERROR("Doubles:"); 00221 for (unsigned int i = 0; i < msg.doubles.size(); i++) 00222 ROS_ERROR(" %s", msg.doubles[i].name.c_str()); 00223 ROS_ERROR("Strings:"); 00224 for (unsigned int i = 0; i < msg.strs.size(); i++) 00225 ROS_ERROR(" %s", msg.strs[i].name.c_str()); 00226 // @todo Check that there are no duplicates. Make this error more 00227 // explicit. 00228 return false; 00229 } 00230 return true; 00231 } 00232 00233 // This version of __toMessage__ is used during initialization of 00234 // statics when __getParamDescriptions__ can't be called yet. 00235 void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__) const 00236 { 00237 dynamic_reconfigure::ConfigTools::clear(msg); 00238 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++) 00239 (*i)->toMessage(msg, *this); 00240 } 00241 00242 void __toMessage__(dynamic_reconfigure::Config &msg) const 00243 { 00244 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__(); 00245 __toMessage__(msg, __param_descriptions__); 00246 } 00247 00248 void __toServer__(const ros::NodeHandle &nh) const 00249 { 00250 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__(); 00251 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++) 00252 (*i)->toServer(nh, *this); 00253 } 00254 00255 void __fromServer__(const ros::NodeHandle &nh) 00256 { 00257 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__(); 00258 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++) 00259 (*i)->fromServer(nh, *this); 00260 } 00261 00262 void __clamp__() 00263 { 00264 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__(); 00265 const StereoVslamNodeConfig &__max__ = __getMax__(); 00266 const StereoVslamNodeConfig &__min__ = __getMin__(); 00267 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++) 00268 (*i)->clamp(*this, __max__, __min__); 00269 } 00270 00271 uint32_t __level__(const StereoVslamNodeConfig &config) const 00272 { 00273 const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__(); 00274 uint32_t level = 0; 00275 for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++) 00276 (*i)->calcLevel(level, config, *this); 00277 return level; 00278 } 00279 00280 static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__(); 00281 static const StereoVslamNodeConfig &__getDefault__(); 00282 static const StereoVslamNodeConfig &__getMax__(); 00283 static const StereoVslamNodeConfig &__getMin__(); 00284 static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__(); 00285 00286 private: 00287 static const StereoVslamNodeConfigStatics *__get_statics__(); 00288 }; 00289 00290 template <> // Max and min are ignored for strings. 00291 inline void StereoVslamNodeConfig::ParamDescription<std::string>::clamp(StereoVslamNodeConfig &config, const StereoVslamNodeConfig &max, const StereoVslamNodeConfig &min) const 00292 { 00293 return; 00294 } 00295 00296 class StereoVslamNodeConfigStatics 00297 { 00298 friend class StereoVslamNodeConfig; 00299 00300 StereoVslamNodeConfigStatics() 00301 { 00302 //#line 12 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00303 __min__.detector = ""; 00304 //#line 12 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00305 __max__.detector = ""; 00306 //#line 12 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00307 __default__.detector = "FAST"; 00308 //#line 12 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00309 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<std::string>("detector", "str", 0, "Keypoint detector", "{'enum_description': 'Enum to set the keypoint detector', 'enum': [{'srcline': 7, 'description': 'FAST detector', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'cconsttype': 'const char * const', 'value': 'FAST', 'ctype': 'std::string', 'type': 'str', 'name': 'FAST'}, {'srcline': 8, 'description': 'Harris detector', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'cconsttype': 'const char * const', 'value': 'Harris', 'ctype': 'std::string', 'type': 'str', 'name': 'Harris'}, {'srcline': 9, 'description': 'Star detector', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'cconsttype': 'const char * const', 'value': 'Star', 'ctype': 'std::string', 'type': 'str', 'name': 'Star'}, {'srcline': 10, 'description': 'SURF detector', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'cconsttype': 'const char * const', 'value': 'SURF', 'ctype': 'std::string', 'type': 'str', 'name': 'SURF'}]}", &StereoVslamNodeConfig::detector))); 00310 //#line 14 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00311 __min__.fast_threshold = 1; 00312 //#line 14 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00313 __max__.fast_threshold = 200; 00314 //#line 14 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00315 __default__.fast_threshold = 10; 00316 //#line 14 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00317 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("fast_threshold", "int", 0, "FAST detector threshold", "", &StereoVslamNodeConfig::fast_threshold))); 00318 //#line 15 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00319 __min__.fast_nonmax_suppression = 0; 00320 //#line 15 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00321 __max__.fast_nonmax_suppression = 1; 00322 //#line 15 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00323 __default__.fast_nonmax_suppression = 1; 00324 //#line 15 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00325 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<bool>("fast_nonmax_suppression", "bool", 0, "FAST detector nonmax suppression on/off", "", &StereoVslamNodeConfig::fast_nonmax_suppression))); 00326 //#line 17 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00327 __min__.harris_max_keypoints = 1; 00328 //#line 17 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00329 __max__.harris_max_keypoints = 1000; 00330 //#line 17 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00331 __default__.harris_max_keypoints = 300; 00332 //#line 17 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00333 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("harris_max_keypoints", "int", 0, "Max keypoints returned", "", &StereoVslamNodeConfig::harris_max_keypoints))); 00334 //#line 18 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00335 __min__.harris_block_size = 1; 00336 //#line 18 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00337 __max__.harris_block_size = 11; 00338 //#line 18 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00339 __default__.harris_block_size = 3; 00340 //#line 18 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00341 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("harris_block_size", "int", 0, "Size of averaging block", "", &StereoVslamNodeConfig::harris_block_size))); 00342 //#line 19 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00343 __min__.harris_min_distance = 1.0; 00344 //#line 19 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00345 __max__.harris_min_distance = 20.0; 00346 //#line 19 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00347 __default__.harris_min_distance = 1.0; 00348 //#line 19 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00349 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<double>("harris_min_distance", "double", 0, "Minimum distance between returned corners", "", &StereoVslamNodeConfig::harris_min_distance))); 00350 //#line 20 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00351 __min__.harris_quality_level = 0.0; 00352 //#line 20 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00353 __max__.harris_quality_level = 1.0; 00354 //#line 20 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00355 __default__.harris_quality_level = 0.01; 00356 //#line 20 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00357 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<double>("harris_quality_level", "double", 0, "Minimal accepted quality", "", &StereoVslamNodeConfig::harris_quality_level))); 00358 //#line 21 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00359 __min__.harris_k = 0.0; 00360 //#line 21 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00361 __max__.harris_k = 1.0; 00362 //#line 21 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00363 __default__.harris_k = 0.04; 00364 //#line 21 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00365 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<double>("harris_k", "double", 0, "Harris detector free parameter", "", &StereoVslamNodeConfig::harris_k))); 00366 //#line 23 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00367 __min__.star_max_size = 4; 00368 //#line 23 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00369 __max__.star_max_size = 128; 00370 //#line 23 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00371 __default__.star_max_size = 16; 00372 //#line 23 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00373 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("star_max_size", "int", 0, "Max feature size", "", &StereoVslamNodeConfig::star_max_size))); 00374 //#line 24 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00375 __min__.star_response_threshold = 0; 00376 //#line 24 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00377 __max__.star_response_threshold = 200; 00378 //#line 24 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00379 __default__.star_response_threshold = 30; 00380 //#line 24 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00381 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("star_response_threshold", "int", 0, "Threshold to eliminate weak features", "", &StereoVslamNodeConfig::star_response_threshold))); 00382 //#line 25 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00383 __min__.star_line_threshold_projected = 0; 00384 //#line 25 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00385 __max__.star_line_threshold_projected = 50; 00386 //#line 25 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00387 __default__.star_line_threshold_projected = 10; 00388 //#line 25 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00389 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("star_line_threshold_projected", "int", 0, "Threshold to eliminate edges", "", &StereoVslamNodeConfig::star_line_threshold_projected))); 00390 //#line 26 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00391 __min__.star_line_threshold_binarized = 0; 00392 //#line 26 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00393 __max__.star_line_threshold_binarized = 50; 00394 //#line 26 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00395 __default__.star_line_threshold_binarized = 8; 00396 //#line 26 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00397 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("star_line_threshold_binarized", "int", 0, "Another threshold to eliminate edges", "", &StereoVslamNodeConfig::star_line_threshold_binarized))); 00398 //#line 27 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00399 __min__.star_suppress_nonmax_size = 0; 00400 //#line 27 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00401 __max__.star_suppress_nonmax_size = 11; 00402 //#line 27 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00403 __default__.star_suppress_nonmax_size = 5; 00404 //#line 27 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00405 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("star_suppress_nonmax_size", "int", 0, "Size of neighborhood for nonmax suppression", "", &StereoVslamNodeConfig::star_suppress_nonmax_size))); 00406 //#line 29 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00407 __min__.surf_hessian_threshold = 0.0; 00408 //#line 29 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00409 __max__.surf_hessian_threshold = 8000.0; 00410 //#line 29 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00411 __default__.surf_hessian_threshold = 1000.0; 00412 //#line 29 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00413 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<double>("surf_hessian_threshold", "double", 0, "Minimum hessian response", "", &StereoVslamNodeConfig::surf_hessian_threshold))); 00414 //#line 30 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00415 __min__.surf_octaves = 1; 00416 //#line 30 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00417 __max__.surf_octaves = 10; 00418 //#line 30 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00419 __default__.surf_octaves = 3; 00420 //#line 30 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00421 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("surf_octaves", "int", 0, "Number of octaves", "", &StereoVslamNodeConfig::surf_octaves))); 00422 //#line 31 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00423 __min__.surf_octave_layers = 1; 00424 //#line 31 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00425 __max__.surf_octave_layers = 10; 00426 //#line 31 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00427 __default__.surf_octave_layers = 4; 00428 //#line 31 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00429 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("surf_octave_layers", "int", 0, "Number of layers within each octave", "", &StereoVslamNodeConfig::surf_octave_layers))); 00430 //#line 33 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00431 __min__.grid_adapter = 0; 00432 //#line 33 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00433 __max__.grid_adapter = 1; 00434 //#line 33 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00435 __default__.grid_adapter = 0; 00436 //#line 33 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00437 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<bool>("grid_adapter", "bool", 0, "Grid partitioning adapter on/off", "", &StereoVslamNodeConfig::grid_adapter))); 00438 //#line 34 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00439 __min__.grid_max_keypoints = 1; 00440 //#line 34 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00441 __max__.grid_max_keypoints = 1000; 00442 //#line 34 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00443 __default__.grid_max_keypoints = 300; 00444 //#line 34 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00445 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("grid_max_keypoints", "int", 0, "Max total keypoints", "", &StereoVslamNodeConfig::grid_max_keypoints))); 00446 //#line 35 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00447 __min__.grid_rows = 1; 00448 //#line 35 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00449 __max__.grid_rows = 8; 00450 //#line 35 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00451 __default__.grid_rows = 4; 00452 //#line 35 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00453 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("grid_rows", "int", 0, "Grid rows", "", &StereoVslamNodeConfig::grid_rows))); 00454 //#line 36 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00455 __min__.grid_cols = 1; 00456 //#line 36 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00457 __max__.grid_cols = 8; 00458 //#line 36 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00459 __default__.grid_cols = 4; 00460 //#line 36 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00461 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("grid_cols", "int", 0, "Grid columns", "", &StereoVslamNodeConfig::grid_cols))); 00462 //#line 40 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00463 __min__.vo_ransac_iterations = 1; 00464 //#line 40 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00465 __max__.vo_ransac_iterations = 10000; 00466 //#line 40 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00467 __default__.vo_ransac_iterations = 1000; 00468 //#line 40 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00469 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("vo_ransac_iterations", "int", 0, "Visual Odometry RANSAC iterations", "", &StereoVslamNodeConfig::vo_ransac_iterations))); 00470 //#line 41 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00471 __min__.vo_polish = 0; 00472 //#line 41 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00473 __max__.vo_polish = 1; 00474 //#line 41 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00475 __default__.vo_polish = 1; 00476 //#line 41 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00477 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<bool>("vo_polish", "bool", 0, "Visual Odometry polish with SBA on/off", "", &StereoVslamNodeConfig::vo_polish))); 00478 //#line 43 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00479 __min__.vo_window_x = 1; 00480 //#line 43 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00481 __max__.vo_window_x = 640; 00482 //#line 43 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00483 __default__.vo_window_x = 92; 00484 //#line 43 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00485 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("vo_window_x", "int", 0, "Visual Odometry matching window size (x)", "", &StereoVslamNodeConfig::vo_window_x))); 00486 //#line 44 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00487 __min__.vo_window_y = 1; 00488 //#line 44 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00489 __max__.vo_window_y = 480; 00490 //#line 44 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00491 __default__.vo_window_y = 48; 00492 //#line 44 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00493 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("vo_window_y", "int", 0, "Visual Odometry matching window size (y)", "", &StereoVslamNodeConfig::vo_window_y))); 00494 //#line 46 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00495 __min__.min_keyframe_dist = 0.0; 00496 //#line 46 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00497 __max__.min_keyframe_dist = 50.0; 00498 //#line 46 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00499 __default__.min_keyframe_dist = 0.2; 00500 //#line 46 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00501 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<double>("min_keyframe_dist", "double", 0, "Minimum keyframe distance (meters)", "", &StereoVslamNodeConfig::min_keyframe_dist))); 00502 //#line 47 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00503 __min__.min_keyframe_angle = 0.0; 00504 //#line 47 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00505 __max__.min_keyframe_angle = 3.14; 00506 //#line 47 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00507 __default__.min_keyframe_angle = 0.1; 00508 //#line 47 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00509 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<double>("min_keyframe_angle", "double", 0, "Minimum keyframe angular distance (radians)", "", &StereoVslamNodeConfig::min_keyframe_angle))); 00510 //#line 48 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00511 __min__.min_inliers = 0; 00512 //#line 48 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00513 __max__.min_inliers = 1000; 00514 //#line 48 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00515 __default__.min_inliers = 0; 00516 //#line 48 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00517 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("min_inliers", "int", 0, "Minimum keyframe inliers", "", &StereoVslamNodeConfig::min_inliers))); 00518 //#line 52 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00519 __min__.pr_ransac_iterations = 1; 00520 //#line 52 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00521 __max__.pr_ransac_iterations = 10000; 00522 //#line 52 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00523 __default__.pr_ransac_iterations = 5000; 00524 //#line 52 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00525 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("pr_ransac_iterations", "int", 0, "Place Recognizer RANSAC iterations", "", &StereoVslamNodeConfig::pr_ransac_iterations))); 00526 //#line 53 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00527 __min__.pr_polish = 0; 00528 //#line 53 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00529 __max__.pr_polish = 1; 00530 //#line 53 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00531 __default__.pr_polish = 1; 00532 //#line 53 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00533 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<bool>("pr_polish", "bool", 0, "Place Recognizer polish with SBA on/off", "", &StereoVslamNodeConfig::pr_polish))); 00534 //#line 55 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00535 __min__.pr_window_x = 1; 00536 //#line 55 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00537 __max__.pr_window_x = 640; 00538 //#line 55 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00539 __default__.pr_window_x = 92; 00540 //#line 55 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00541 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("pr_window_x", "int", 0, "Place Recognizer matching window size (x)", "", &StereoVslamNodeConfig::pr_window_x))); 00542 //#line 56 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00543 __min__.pr_window_y = 1; 00544 //#line 56 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00545 __max__.pr_window_y = 480; 00546 //#line 56 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00547 __default__.pr_window_y = 48; 00548 //#line 56 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00549 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("pr_window_y", "int", 0, "Place Recognizer matching window size (y)", "", &StereoVslamNodeConfig::pr_window_y))); 00550 //#line 58 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00551 __min__.pr_skip = 0; 00552 //#line 58 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00553 __max__.pr_skip = 100; 00554 //#line 58 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00555 __default__.pr_skip = 20; 00556 //#line 58 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00557 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("pr_skip", "int", 0, "Number of latest frames for Place Recognizer to skip", "", &StereoVslamNodeConfig::pr_skip))); 00558 //#line 59 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00559 __min__.pr_inliers = 1; 00560 //#line 59 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00561 __max__.pr_inliers = 1000; 00562 //#line 59 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00563 __default__.pr_inliers = 200; 00564 //#line 59 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00565 __param_descriptions__.push_back(StereoVslamNodeConfig::AbstractParamDescriptionConstPtr(new StereoVslamNodeConfig::ParamDescription<int>("pr_inliers", "int", 0, "Minimum number of inliers for Place Recognition", "", &StereoVslamNodeConfig::pr_inliers))); 00566 //#line 239 "/opt/ros/diamondback/stacks/driver_common/dynamic_reconfigure/templates/ConfigType.h" 00567 00568 for (std::vector<StereoVslamNodeConfig::AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); i++) 00569 __description_message__.parameters.push_back(**i); 00570 __max__.__toMessage__(__description_message__.max, __param_descriptions__); 00571 __min__.__toMessage__(__description_message__.min, __param_descriptions__); 00572 __default__.__toMessage__(__description_message__.dflt, __param_descriptions__); 00573 } 00574 std::vector<StereoVslamNodeConfig::AbstractParamDescriptionConstPtr> __param_descriptions__; 00575 StereoVslamNodeConfig __max__; 00576 StereoVslamNodeConfig __min__; 00577 StereoVslamNodeConfig __default__; 00578 dynamic_reconfigure::ConfigDescription __description_message__; 00579 static const StereoVslamNodeConfigStatics *get_instance() 00580 { 00581 // Split this off in a separate function because I know that 00582 // instance will get initialized the first time get_instance is 00583 // called, and I am guaranteeing that get_instance gets called at 00584 // most once. 00585 static StereoVslamNodeConfigStatics instance; 00586 return &instance; 00587 } 00588 }; 00589 00590 inline const dynamic_reconfigure::ConfigDescription &StereoVslamNodeConfig::__getDescriptionMessage__() 00591 { 00592 return __get_statics__()->__description_message__; 00593 } 00594 00595 inline const StereoVslamNodeConfig &StereoVslamNodeConfig::__getDefault__() 00596 { 00597 return __get_statics__()->__default__; 00598 } 00599 00600 inline const StereoVslamNodeConfig &StereoVslamNodeConfig::__getMax__() 00601 { 00602 return __get_statics__()->__max__; 00603 } 00604 00605 inline const StereoVslamNodeConfig &StereoVslamNodeConfig::__getMin__() 00606 { 00607 return __get_statics__()->__min__; 00608 } 00609 00610 inline const std::vector<StereoVslamNodeConfig::AbstractParamDescriptionConstPtr> &StereoVslamNodeConfig::__getParamDescriptions__() 00611 { 00612 return __get_statics__()->__param_descriptions__; 00613 } 00614 00615 inline const StereoVslamNodeConfigStatics *StereoVslamNodeConfig::__get_statics__() 00616 { 00617 const static StereoVslamNodeConfigStatics *statics; 00618 00619 if (statics) // Common case 00620 return statics; 00621 00622 boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__); 00623 00624 if (statics) // In case we lost a race. 00625 return statics; 00626 00627 statics = StereoVslamNodeConfigStatics::get_instance(); 00628 00629 return statics; 00630 } 00631 00632 //#line 7 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00633 const char * const StereoVslamNode_FAST = "FAST"; 00634 //#line 8 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00635 const char * const StereoVslamNode_Harris = "Harris"; 00636 //#line 9 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00637 const char * const StereoVslamNode_Star = "Star"; 00638 //#line 10 "/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py" 00639 const char * const StereoVslamNode_SURF = "SURF"; 00640 } 00641 00642 #endif // __STEREOVSLAMNODERECONFIGURATOR_H__