Struct CIncrementalMapPartitioner::TOptions

Nested Relationships

This struct is a nested type of Class CIncrementalMapPartitioner.

Inheritance Relationships

Base Type

  • public mrpt::config::CLoadableOptions

Struct Documentation

struct TOptions : public mrpt::config::CLoadableOptions

Configuration parameters

Public Functions

void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
void saveToConfigFile(mrpt::config::CConfigFileBase &target, const std::string &section) const override
TOptions()

Public Members

double partitionThreshold = {1.0}

!< N-cut partition threshold [0,2] (default=1)

mrpt::maps::TMatchingRatioParams mrp

These parameters are loaded/saved to config files with the prefix “mrp.{param_name}”

bool forceBisectionOnly = {false}
similarity_method_t simil_method = {smMETRIC_MAP_MATCHING}

Defines the method for determining the adjacency matrix values.

See also

CIncrementalMapPartitioner::setSimilarityMethod()

uint64_t minimumNumberElementsEachCluster = {1}

If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1).

mrpt::maps::TSetOfMetricMapInitializers metricmap

Type and parameters of metric map(s) to build for each keyframe. Parameters can be loaded from a config file from sections with the prefix of this “TOptions” section + “.metricmap”. Default: a CSimplePointsMap

uint64_t maxKeyFrameDistanceToEval = {std::numeric_limits<uint64_t>::max()}

Maximum distance, in KF identifier numbers, to check for similarity. Default=Infinite. Can be used to constraint the wrong detection of clusters after loop closures but before correcting global poses.