sm_options.c

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#include <options/options.h>

#include "csm_all.h"


void sm_options(struct sm_params*p, struct option*ops) {
        
        options_double(ops, "max_angular_correction_deg", &(p->max_angular_correction_deg),
                90.0, "Maximum angular displacement between scans");

        options_double(ops, "max_linear_correction", 
                &(p->max_linear_correction), 2.0,
                "Maximum translation between scans (m)");

        options_int(ops, "max_iterations", 
                &(p->max_iterations), 1000,
                "When we had enough");

        options_double(ops, "epsilon_xy", 
                &(p->epsilon_xy), 0.0001,
                "A threshold for stopping (m)");

        options_double(ops, "epsilon_theta",
                &(p->epsilon_theta),  0.0001, /* = 0.005 deg */
                "A threshold for stopping (rad)");

        options_double(ops, "max_correspondence_dist", 
                &(p->max_correspondence_dist), 2.0,
                "dubious parameter (m)");
                
        options_double(ops, "sigma", 
                &(p->sigma), 0.01,
                "Noise in the scan (m)");

        options_int(ops, "use_corr_tricks", 
                &(p->use_corr_tricks), 1,
                "Use smart tricks for finding correspondences.");

        options_int(ops, "restart", 
                &(p->restart), 1,
                "Restart: Restart if error is over threshold");

        options_double(ops, "restart_threshold_mean_error",
                &(p->restart_threshold_mean_error),  0.01,
                "Restart: Threshold for restarting. )");

        options_double(ops, "restart_dt", 
                &(p->restart_dt), 0.01,
                "Restart: displacement for restarting. (m)");

        options_double(ops, "restart_dtheta",
                &(p->restart_dtheta),  deg2rad(1.5),
                "Restart: displacement for restarting. (rad)");

        options_double(ops, "clustering_threshold",
                &(p->clustering_threshold),  0.05,
                "Max distance for staying in the same clustering");

        options_int(ops, "orientation_neighbourhood",
                &(p->orientation_neighbourhood),  3,
                "Number of neighbour rays used to estimate the orientation.");


        options_int(ops, "use_point_to_line_distance",
                &(p->use_point_to_line_distance),  1,
                "If 0, it's vanilla ICP.");

        options_int(ops, "do_alpha_test",
                &(p->do_alpha_test),  0,
                "Discard correspondences based on the angles");

        options_double(ops, "do_alpha_test_thresholdDeg", 
                &(p->do_alpha_test_thresholdDeg), 20.0, "");

        options_double(ops, "outliers_maxPerc", 
                &(p->outliers_maxPerc), 0.95, "");

        options_double(ops, "outliers_adaptive_order", 
                &(p->outliers_adaptive_order), 0.7, "");
        options_double(ops, "outliers_adaptive_mult", 
                &(p->outliers_adaptive_mult), 2.0, "");

        options_int(ops, "do_visibility_test", 
                &(p->do_visibility_test), 0,
                " ... ");

        options_int(ops, "outliers_remove_doubles", 
                &(p->outliers_remove_doubles), 1, "no two points in laser_sens can have the same corr."); 

        options_int(ops, "do_compute_covariance", 
                &(p->do_compute_covariance), 0,
                "If 1, computes the covariance of ICP using the method http://purl.org/censi/2006/icpcov .");

        options_int(ops, "debug_verify_tricks", 
                &(p->debug_verify_tricks), 0,
                "Checks that find_correspondences_tricks gives the right answer.");

        options_double(ops, "gpm_theta_bin_size_deg", &(p->gpm_theta_bin_size_deg), 5.0, 
                "GPM: Dimension of bins for finding first theta.");
        options_double(ops, "gpm_extend_range_deg", &(p->gpm_extend_range_deg), 15.0, 
                "GPM: Area around maximum.");
        options_int(ops, "gpm_interval", &(p->gpm_interval), 1, "Interval of points to consider (1: all points, 2: every other point, etc.)");

        options_double(ops, "laser_x", &(p->laser[0]), 0.0, "laser.x (m)");
        options_double(ops, "laser_y", &(p->laser[1]), 0.0, "laser.y (m)");
        options_double(ops, "laser_theta", &(p->laser[2]), 0.0, "laser.theta (rad)");

        options_double(ops, "min_reading", &(p->min_reading), 0.0, "Don't use readings less than min_reading (m)");
        options_double(ops, "max_reading", &(p->max_reading), 1000.0, "Don't use readings longer than max_reading (m)");
        
        options_int(ops, "use_ml_weights", &(p->use_ml_weights), 0,
            "If 1, the field 'true_alpha' (or 'alpha') in the first scan is used to compute the incidence beta, and the factor (1/cos^2(beta)) used to weight the correspondence.");

        options_int(ops, "use_sigma_weights", &(p->use_sigma_weights), 0,
                "If 1, the field 'readings_sigma' in the second scan is used to weight the correspondence by 1/sigma^2");
                

        hsm_add_options(ops, &p->hsm);
}