vslam_system: StereoVslamNodeConfig.py Source File

00001 ## *********************************************************
00002 ## 
00003 ## File autogenerated for the vslam_system package 
00004 ## by the dynamic_reconfigure package.
00005 ## Please do not edit.
00006 ## 
00007 ## ********************************************************/
00008 
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00042 
00043 config_description = [{'srcline': 12, 'description': 'Keypoint detector', 'max': '', 'cconsttype': 'const char * const', 'ctype': 'std::string', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'detector', 'edit_method': "{'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'}]}", 'default': 'FAST', 'level': 0, 'min': '', 'type': 'str'}, {'srcline': 14, 'description': 'FAST detector threshold', 'max': 200, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'fast_threshold', 'edit_method': '', 'default': 10, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 15, 'description': 'FAST detector nonmax suppression on/off', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'fast_nonmax_suppression', 'edit_method': '', 'default': True, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 17, 'description': 'Max keypoints returned', 'max': 1000, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'harris_max_keypoints', 'edit_method': '', 'default': 300, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 18, 'description': 'Size of averaging block', 'max': 11, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'harris_block_size', 'edit_method': '', 'default': 3, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 19, 'description': 'Minimum distance between returned corners', 'max': 20.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'harris_min_distance', 'edit_method': '', 'default': 1.0, 'level': 0, 'min': 1.0, 'type': 'double'}, {'srcline': 20, 'description': 'Minimal accepted quality', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'harris_quality_level', 'edit_method': '', 'default': 0.01, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 21, 'description': 'Harris detector free parameter', 'max': 1.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'harris_k', 'edit_method': '', 'default': 0.040000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 23, 'description': 'Max feature size', 'max': 128, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'star_max_size', 'edit_method': '', 'default': 16, 'level': 0, 'min': 4, 'type': 'int'}, {'srcline': 24, 'description': 'Threshold to eliminate weak features', 'max': 200, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'star_response_threshold', 'edit_method': '', 'default': 30, 'level': 0, 'min': 0, 'type': 'int'}, {'srcline': 25, 'description': 'Threshold to eliminate edges', 'max': 50, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'star_line_threshold_projected', 'edit_method': '', 'default': 10, 'level': 0, 'min': 0, 'type': 'int'}, {'srcline': 26, 'description': 'Another threshold to eliminate edges', 'max': 50, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'star_line_threshold_binarized', 'edit_method': '', 'default': 8, 'level': 0, 'min': 0, 'type': 'int'}, {'srcline': 27, 'description': 'Size of neighborhood for nonmax suppression', 'max': 11, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'star_suppress_nonmax_size', 'edit_method': '', 'default': 5, 'level': 0, 'min': 0, 'type': 'int'}, {'srcline': 29, 'description': 'Minimum hessian response', 'max': 8000.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'surf_hessian_threshold', 'edit_method': '', 'default': 1000.0, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 30, 'description': 'Number of octaves', 'max': 10, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'surf_octaves', 'edit_method': '', 'default': 3, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 31, 'description': 'Number of layers within each octave', 'max': 10, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'surf_octave_layers', 'edit_method': '', 'default': 4, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 33, 'description': 'Grid partitioning adapter on/off', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'grid_adapter', 'edit_method': '', 'default': False, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 34, 'description': 'Max total keypoints', 'max': 1000, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'grid_max_keypoints', 'edit_method': '', 'default': 300, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 35, 'description': 'Grid rows', 'max': 8, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'grid_rows', 'edit_method': '', 'default': 4, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 36, 'description': 'Grid columns', 'max': 8, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'grid_cols', 'edit_method': '', 'default': 4, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 40, 'description': 'Visual Odometry RANSAC iterations', 'max': 10000, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'vo_ransac_iterations', 'edit_method': '', 'default': 1000, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 41, 'description': 'Visual Odometry polish with SBA on/off', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'vo_polish', 'edit_method': '', 'default': True, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 43, 'description': 'Visual Odometry matching window size (x)', 'max': 640, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'vo_window_x', 'edit_method': '', 'default': 92, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 44, 'description': 'Visual Odometry matching window size (y)', 'max': 480, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'vo_window_y', 'edit_method': '', 'default': 48, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 46, 'description': 'Minimum keyframe distance (meters)', 'max': 50.0, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'min_keyframe_dist', 'edit_method': '', 'default': 0.20000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 47, 'description': 'Minimum keyframe angular distance (radians)', 'max': 3.1400000000000001, 'cconsttype': 'const double', 'ctype': 'double', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'min_keyframe_angle', 'edit_method': '', 'default': 0.10000000000000001, 'level': 0, 'min': 0.0, 'type': 'double'}, {'srcline': 48, 'description': 'Minimum keyframe inliers', 'max': 1000, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'min_inliers', 'edit_method': '', 'default': 0, 'level': 0, 'min': 0, 'type': 'int'}, {'srcline': 52, 'description': 'Place Recognizer RANSAC iterations', 'max': 10000, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'pr_ransac_iterations', 'edit_method': '', 'default': 5000, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 53, 'description': 'Place Recognizer polish with SBA on/off', 'max': True, 'cconsttype': 'const bool', 'ctype': 'bool', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'pr_polish', 'edit_method': '', 'default': True, 'level': 0, 'min': False, 'type': 'bool'}, {'srcline': 55, 'description': 'Place Recognizer matching window size (x)', 'max': 640, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'pr_window_x', 'edit_method': '', 'default': 92, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 56, 'description': 'Place Recognizer matching window size (y)', 'max': 480, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'pr_window_y', 'edit_method': '', 'default': 48, 'level': 0, 'min': 1, 'type': 'int'}, {'srcline': 58, 'description': 'Number of latest frames for Place Recognizer to skip', 'max': 100, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'pr_skip', 'edit_method': '', 'default': 20, 'level': 0, 'min': 0, 'type': 'int'}, {'srcline': 59, 'description': 'Minimum number of inliers for Place Recognition', 'max': 1000, 'cconsttype': 'const int', 'ctype': 'int', 'srcfile': '/tmp/buildd/ros-diamondback-vslam-0.2.4/debian/ros-diamondback-vslam/opt/ros/diamondback/stacks/vslam/vslam_system/cfg/detector_parameters.py', 'name': 'pr_inliers', 'edit_method': '', 'default': 200, 'level': 0, 'min': 1, 'type': 'int'}]
00044 
00045 min = {}
00046 max = {}
00047 defaults = {}
00048 level = {}
00049 type = {}
00050 all_level = 0
00051 
00052 for param in config_description:
00053     min[param['name']] = param['min']
00054     max[param['name']] = param['max']
00055     defaults[param['name']] = param['default']
00056     level[param['name']] = param['level']
00057     type[param['name']] = param['type']
00058     all_level = all_level | param['level']
00059 
00060 StereoVslamNode_FAST = 'FAST'
00061 StereoVslamNode_Harris = 'Harris'
00062 StereoVslamNode_Star = 'Star'
00063 StereoVslamNode_SURF = 'SURF'