plane_detector_params.h
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00001 /******************************************************************************
00002  * \file
00003  *
00004  * $Id: plane_detector_params.h 693 2012-04-20 09:22:39Z ihulik $
00005  *
00006  * Copyright (C) Brno University of Technology
00007  *
00008  * This file is part of software developed by dcgm-robotics@FIT group.
00009  *
00010  * Author: Rostislav Hulik (ihulik@fit.vutbr.cz)
00011  * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
00012  * Date: 15.06.2012 (version 1.0)
00013  *
00014  * This file is free software: you can redistribute it and/or modify
00015  * it under the terms of the GNU Lesser General Public License as published by
00016  * the Free Software Foundation, either version 3 of the License, or
00017  * (at your option) any later version.
00018  *
00019  * This file is distributed in the hope that it will be useful,
00020  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00021  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00022  * GNU Lesser General Public License for more details.
00023  *
00024  * You should have received a copy of the GNU Lesser General Public License
00025  * along with this file.  If not, see <http://www.gnu.org/licenses/>.
00026  */
00027 
00028 #pragma once
00029 #ifndef PLANE_DETECTOR_PARAMS_H
00030 #define PLANE_DETECTOR_PARAMS_H
00031 
00032 #include <string>
00033 #include "srs_env_model_percp/topics_list.h"
00034 #include "srs_env_model_percp/but_segmentation/normals.h"
00035 namespace srs_env_model_percp
00036 {
00040         const std::string PARAM_NODE_INPUT                                              = "planedet_input";
00041         const std::string PARAM_NODE_INPUT_PCL                                  = "pcl";
00042         const std::string PARAM_NODE_INPUT_KINECT                               = "kinect";
00043         const std::string PARAM_NODE_INPUT_DEFAULT                              = PARAM_NODE_INPUT_PCL;
00044 
00049     const std::string PARAM_NODE_ORIGINAL_FRAME             = "original_frame";
00050     const std::string PARAM_NODE_ORIGINAL_FRAME_DEFAULT     = "/head_cam3d_link";
00051 
00055         const std::string PARAM_NODE_OUTPUT_FRAME                               = "global_frame";
00056         const std::string PARAM_NODE_OUTPUT_FRAME_DEFAULT               = "/map";
00057 
00058 
00062         const std::string PARAM_HT_MAXDEPTH                                             = "planedet_ht_maxdepth";
00063         const double      PARAM_HT_MAXDEPTH_DEFAULT                             = 100.0;
00064 
00065         const std::string PARAM_HT_MAXHEIGHT                                    = "planedet_ht_max_height";
00066         const double      PARAM_HT_MAXHEIGHT_DEFAULT                    = 3.0;
00067 
00068         const std::string PARAM_HT_MINHEIGHT                                    = "planedet_ht_min_height";
00069         const double      PARAM_HT_MINHEIGHT_DEFAULT                    = 0.1;
00070 
00071         const std::string PARAM_HT_MINSHIFT                                             = "planedet_ht_minshift";
00072         const double      PARAM_HT_MINSHIFT_DEFAULT                             = -40.0;
00073 
00074         const std::string PARAM_HT_MAXSHIFT                                             = "planedet_ht_maxshift";
00075         const double      PARAM_HT_MAXSHIFT_DEFAULT                             = 40.0;
00076 
00077         const std::string PARAM_HT_ANGLE_RES                                    = "planedet_ht_angle_res";
00078         const double      PARAM_HT_ANGLE_RES_DEFAULT                    = 512;
00079 
00080         const std::string PARAM_HT_SHIFT_RES                                    = "planedet_ht_shift_res";
00081         const double      PARAM_HT_SHIFT_RES_DEFAULT                    = 4096;
00082 
00083         const std::string PARAM_HT_GAUSS_ANGLE_RES                              = "planedet_ht_gauss_angle_res";
00084         const double      PARAM_HT_GAUSS_ANGLE_RES_DEFAULT              = 11;
00085 
00086         const std::string PARAM_HT_GAUSS_SHIFT_RES                              = "planedet_ht_gauss_shift_res";
00087         const double      PARAM_HT_GAUSS_SHIFT_RES_DEFAULT              = 11;
00088 
00089         const std::string PARAM_HT_GAUSS_ANGLE_SIGMA                    = "planedet_ht_gauss_angle_sigma";
00090         const double      PARAM_HT_GAUSS_ANGLE_SIGMA_DEFAULT    = 0.04;
00091 
00092         const std::string PARAM_HT_GAUSS_SHIFT_SIGMA                    = "planedet_ht_gauss_shift_sigma";
00093         const double      PARAM_HT_GAUSS_SHIFT_SIGMA_DEFAULT    = 0.15;
00094 
00095         const std::string PARAM_HT_LVL1_GAUSS_ANGLE_RES                         = "planedet_ht_lvl1_gauss_angle_res";
00096         const double      PARAM_HT_LVL1_GAUSS_ANGLE_RES_DEFAULT         = 21;
00097 
00098         const std::string PARAM_HT_LVL1_GAUSS_SHIFT_RES                         = "planedet_ht_lvl1_gauss_shift_res";
00099         const double      PARAM_HT_LVL1_GAUSS_SHIFT_RES_DEFAULT         = 21;
00100 
00101         const std::string PARAM_HT_LVL1_GAUSS_ANGLE_SIGMA                       = "planedet_ht_lvl1_gauss_angle_sigma";
00102         const double      PARAM_HT_LVL1_GAUSS_ANGLE_SIGMA_DEFAULT       = 5.0;
00103 
00104         const std::string PARAM_HT_LVL1_GAUSS_SHIFT_SIGMA                       = "planedet_ht_lvl1_gauss_shift_sigma";
00105         const double      PARAM_HT_LVL1_GAUSS_SHIFT_SIGMA_DEFAULT       = 5.0;
00106 
00107         const std::string PARAM_HT_KEEPTRACK                                            = "planedet_ht_keep_track";
00108         const int         PARAM_HT_KEEPTRACK_DEFAULT                                    = 1;
00109 
00110         const std::string PARAM_HT_PLANE_MERGE_SHIFT                            = "planedet_ht_plane_merge_shift";
00111         const double      PARAM_HT_PLANE_MERGE_SHIFT_DEFAULT            = 0.1;
00112 
00113         const std::string PARAM_HT_PLANE_MERGE_ANGLE                            = "planedet_ht_plane_merge_angle";
00114         const double      PARAM_HT_PLANE_MERGE_ANGLE_DEFAULT            = 0.3;
00115 
00116         const std::string PARAM_HT_MIN_SMOOTH                                           = "planedet_ht_min_smooth";
00117         const int                 PARAM_HT_MIN_SMOOTH_DEFAULT                           = 50;
00118 
00119         const std::string PARAM_HT_STEP_SUBSTRACTION                            = "planedet_ht_step_substraction";
00120         const double              PARAM_HT_STEP_SUBSTRACTION_DEFAULT            = 0.2;
00121 
00122 
00126         const std::string PARAM_SEARCH_MINIMUM_CURRENT_SPACE                            = "planedet_search_minimum_current_space";
00127         const double      PARAM_SEARCH_MINIMUM_CURRENT_SPACE_DEFAULT            = 1500.0;
00128 
00129         const std::string PARAM_SEARCH_MINIMUM_GLOBAL_SPACE                             = "planedet_search_minimum_global_space";
00130         const double      PARAM_SEARCH_MINIMUM_GLOBAL_SPACE_DEFAULT             = 1.5;
00131 
00132         const std::string PARAM_SEARCH_MAXIMA_SEARCH_NEIGHBORHOOD                       = "planedet_search_maxima_search_neighborhood";
00133         const int                 PARAM_SEARCH_MAXIMA_SEARCH_NEIGHBORHOOD_DEFAULT       = 1;
00134 
00135         const std::string PARAM_SEARCH_MAXIMA_SEARCH_BLUR                                       = "planedet_search_maxima_search_blur";
00136         const int                 PARAM_SEARCH_MAXIMA_SEARCH_BLUR_DEFAULT                       = 0;
00137 
00138 
00142         const std::string PARAM_VISUALISATION_DISTANCE                                          = "planedet_visualisation_distance";
00143         const double      PARAM_VISUALISATION_DISTANCE_DEFAULT                          = 0.05;
00144 
00145         const std::string PARAM_VISUALISATION_MIN_COUNT                                         = "planedet_visualisation_min_count";
00146         const int                 PARAM_VISUALISATION_MIN_COUNT_DEFAULT                         = 2000;
00147 
00148         const std::string PARAM_VISUALISATION_PLANE_NORMAL_DEV                          = "planedet_visualisation_plane_normal_dev";
00149         const double      PARAM_VISUALISATION_PLANE_NORMAL_DEV_DEFAULT          = 0.15;
00150 
00151         const std::string PARAM_VISUALISATION_PLANE_SHIFT_DEV                           = "planedet_visualisation_plane_shift_dev";
00152         const double      PARAM_VISUALISATION_PLANE_SHIFT_DEV_DEFAULT           = 0.45;
00153 
00154         const std::string PARAM_VISUALISATION_COLOR                                                     = "planedet_visualisation_color";
00155         const std::string PARAM_VISUALISATION_COLOR_DEFAULT                                     = "plane_eq";
00156 
00157         const std::string PARAM_VISUALISATION_TTL                                                       = "planedet_visualisation_ttl";
00158         const int PARAM_VISUALISATION_TTL_DEFAULT                                                       = 10; // sec
00159 
00160         const std::string PARAM_VISUALISATION_MAX_POLY_SIZE                                     = "planedet_max_poly_size";
00161         const int PARAM_VISUALISATION_MAX_POLY_SIZE_DEFAULT                                     = 2000; // sec
00162 
00163 
00167         const std::string PARAM_NORMAL_TYPE                                                                     = "planedet_normal_type";
00168         const int PARAM_NORMAL_TYPE_DEFAULT                                                                     = but_plane_detector::NormalType::PCL;
00169 
00170         const std::string PARAM_NORMAL_NEIGHBORHOOD                                                     = "planedet_normal_neighborhood";
00171         const int PARAM_NORMAL_NEIGHBORHOOD_DEFAULT                                                     = 5; // sec
00172 
00173         const std::string PARAM_NORMAL_THRESHOLD                                                        = "planedet_normal_threshold";
00174         const double PARAM_NORMAL_THRESHOLD_DEFAULT                                                     = 0.2; // sec
00175 
00176         const std::string PARAM_NORMAL_OUTLIERTHRESH                                            = "planedet_normal_outlierThreshold";
00177         const double PARAM_NORMAL_OUTLIERTHRESH_DEFAULT                                         = 0.02; // sec
00178 
00179         const std::string PARAM_NORMAL_ITER                                                                     = "planedet_normal_iter";
00180         const int PARAM_NORMAL_ITER_DEFAULT                                                                     = 3; // sec
00181 
00185     struct PlaneDetectorSettings
00186     {
00187         std::string param_node_input;
00188         std::string param_output_frame;
00189         std::string param_original_frame;
00190 
00191         double param_ht_maxdepth;
00192         double param_ht_maxheight;
00193         double param_ht_minheight;
00194         int    param_ht_keeptrack;
00195         double param_ht_minshift;
00196         double param_ht_maxshift;
00197         double param_ht_angle_res;
00198         double param_ht_shift_res;
00199         double param_ht_gauss_angle_res;
00200         double param_ht_gauss_shift_res;
00201         double param_ht_gauss_angle_sigma;
00202         double param_ht_gauss_shift_sigma;
00203         double param_ht_lvl1_gauss_angle_res;
00204         double param_ht_lvl1_gauss_shift_res;
00205         double param_ht_lvl1_gauss_angle_sigma;
00206         double param_ht_lvl1_gauss_shift_sigma;
00207         double param_ht_step_substraction;
00208 
00209         double param_ht_plane_merge_shift;
00210         double param_ht_plane_merge_angle;
00211         int        param_ht_min_smooth;
00212 
00213         double param_search_minimum_current_space;
00214         double param_search_minimum_global_space;
00215         int    param_search_maxima_search_neighborhood;
00216         int    param_search_maxima_search_blur;
00217 
00218         double param_visualisation_distance;
00219         double param_visualisation_plane_normal_dev;
00220         double param_visualisation_plane_shift_dev;
00221         int    param_visualisation_min_count;
00222         int    param_visualisation_ttl;
00223         int    param_visualisation_max_poly_size;
00224 
00225         int    param_normal_type;
00226         int    param_normal_neighborhood;
00227         double  param_normal_threshold;
00228         double  param_normal_outlierThreshold;
00229                 int    param_normal_iter;
00230 
00231         std::string param_visualisation_color;
00232     };
00233 }
00234 
00235 
00236 #endif


srs_env_model_percp
Author(s): Rostislav Hulik (ihulik@fit.vutbr.cz), Tomas Hodan, Michal Spanel (spanel@fit.vutbr.cz)
autogenerated on Sun Jan 5 2014 11:51:56