Parameters for map merging high-level interface. More...

#include <map_merging.h>

Static Public Member Functions
static MapMergingParams	fromCommandLine (int argc, char **argv)
	Sources parameters from command line arguments. More...

static MapMergingParams	fromROSNode (const ros::NodeHandle &node)
	Sources parameters from ROS node parameters. More...

Public Attributes
double	confidence_threshold = 0.0

double	descriptor_radius = resolution * 8.0

Descriptor	descriptor_type = Descriptor::PFH

EstimationMethod	estimation_method = EstimationMethod::MATCHING

double	inlier_threshold = resolution * 5.0

double	keypoint_threshold = 5.0

Keypoint	keypoint_type = Keypoint::SIFT

size_t	matching_k = 5

double	max_correspondence_distance = inlier_threshold * 2.0

int	max_iterations = 500

double	normal_radius = resolution * 6.0

int	outliers_min_neighbours = 50

double	output_resolution = 0.05

bool	refine_transform = true

double	resolution = 0.1

double	transform_epsilon = 1e-2

Detailed Description

Parameters for map merging high-level interface.

Contains all tunables for estimating transformation between n maps and for compositing the global map

Definition at line 28 of file map_merging.h.

Member Function Documentation

◆ fromCommandLine()

static MapMergingParams map_merge_3d::MapMergingParams::fromCommandLine	(	int	argc,
		char **	argv
	)

static

Sources parameters from command line arguments.

Uses PCL's command line parser to initialize the parameters. Format is --param_name <value>. param_name is the same as the struct member.

Parameters

argc	arguments count
argv	program arguments

Returns: parameters with values from command line of default values where not provided.

◆ fromROSNode()

static MapMergingParams map_merge_3d::MapMergingParams::fromROSNode ( const ros::NodeHandle & node )

static

Sources parameters from ROS node parameters.

Parameter names are the same as the struct member.

Parameters

node	ROS node to source parameters from

Returns: parameters with values from ROS params of default values where not provided.

Member Data Documentation

◆ confidence_threshold

double map_merge_3d::MapMergingParams::confidence_threshold = 0.0

Definition at line 43 of file map_merging.h.

◆ descriptor_radius

double map_merge_3d::MapMergingParams::descriptor_radius = resolution * 8.0

Definition at line 30 of file map_merging.h.

◆ descriptor_type

Descriptor map_merge_3d::MapMergingParams::descriptor_type = Descriptor::PFH

Definition at line 35 of file map_merging.h.

◆ estimation_method

EstimationMethod map_merge_3d::MapMergingParams::estimation_method = EstimationMethod::MATCHING

Definition at line 36 of file map_merging.h.

◆ inlier_threshold

double map_merge_3d::MapMergingParams::inlier_threshold = resolution * 5.0

Definition at line 38 of file map_merging.h.

◆ keypoint_threshold

double map_merge_3d::MapMergingParams::keypoint_threshold = 5.0

Definition at line 34 of file map_merging.h.

◆ keypoint_type

Keypoint map_merge_3d::MapMergingParams::keypoint_type = Keypoint::SIFT

Definition at line 33 of file map_merging.h.

◆ matching_k

size_t map_merge_3d::MapMergingParams::matching_k = 5

Definition at line 41 of file map_merging.h.

◆ max_correspondence_distance

double map_merge_3d::MapMergingParams::max_correspondence_distance = inlier_threshold * 2.0

Definition at line 39 of file map_merging.h.

◆ max_iterations

int map_merge_3d::MapMergingParams::max_iterations = 500

Definition at line 40 of file map_merging.h.

◆ normal_radius

double map_merge_3d::MapMergingParams::normal_radius = resolution * 6.0

Definition at line 32 of file map_merging.h.

◆ outliers_min_neighbours

int map_merge_3d::MapMergingParams::outliers_min_neighbours = 50

Definition at line 31 of file map_merging.h.

◆ output_resolution

double map_merge_3d::MapMergingParams::output_resolution = 0.05

Definition at line 44 of file map_merging.h.

◆ refine_transform

bool map_merge_3d::MapMergingParams::refine_transform = true

Definition at line 37 of file map_merging.h.

◆ resolution

double map_merge_3d::MapMergingParams::resolution = 0.1

Definition at line 29 of file map_merging.h.

◆ transform_epsilon

double map_merge_3d::MapMergingParams::transform_epsilon = 1e-2

Definition at line 42 of file map_merging.h.

The documentation for this struct was generated from the following file:

map_merging.h

Static Public Member Functions

Public Attributes