<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>mrpt::slam::CLandmarksMap::TInsertionOptions Struct Reference</title>
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
</head><body>
<div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div>
<div align="right">
<a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a>
</div>
<!-- Generated by Doxygen 1.7.5 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li class="current"><a href="annotated.html"><span>Classes</span></a></li>
<li><a href="files.html"><span>Files</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<div class="left">
<form id="FSearchBox" action="search.php" method="get">
<img id="MSearchSelect" src="search/mag.png" alt=""/>
<input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"/>
</form>
</div><div class="right"></div>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="annotated.html"><span>Class List</span></a></li>
<li><a href="classes.html"><span>Class Index</span></a></li>
<li><a href="inherits.html"><span>Class Hierarchy</span></a></li>
<li><a href="functions.html"><span>Class Members</span></a></li>
</ul>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1slam.html">slam</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html">TInsertionOptions</a> </li>
</ul>
</div>
</div>
<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-attribs">Public Attributes</a> |
<a href="#pro-static-methods">Static Protected Member Functions</a> </div>
<div class="headertitle">
<div class="title">mrpt::slam::CLandmarksMap::TInsertionOptions Struct Reference</div> </div>
</div>
<div class="contents">
<!-- doxytag: class="mrpt::slam::CLandmarksMap::TInsertionOptions" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>With this struct options are provided to the observation insertion process. </p>
</div>
<p><code>#include <<a class="el" href="_c_landmarks_map_8h_source.html">mrpt/slam/CLandmarksMap.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CLandmarksMap::TInsertionOptions:</div>
<div class="dyncontent">
<div class="center"><img src="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options_inherit__map" id="mrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio..." alt="" coords="59,5,253,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a5749d6bad0fdbbe6fed5c683686084e2">TInsertionOptions</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initilization of default parameters. <a href="#a5749d6bad0fdbbe6fed5c683686084e2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a6f0ff6a514eccc00aedb2cdec51cd35d">loadFromConfigFile</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &source, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">utils::CLoadableOptions</a>. <a href="#a6f0ff6a514eccc00aedb2cdec51cd35d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#ab2f0ebc73539ce4d5a2bb4fc18be5057">dumpToTextStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">utils::CLoadableOptions</a>. <a href="#ab2f0ebc73539ce4d5a2bb4fc18be5057"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a1ce8e0f241fe85f78095e23d37b2b635">loadFromConfigFileName</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &config_file, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to load the file. <a href="#a1ce8e0f241fe85f78095e23d37b2b635"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a913c3433af4564cedeb25e24ace1cf28">saveToConfigFile</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &source, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method saves the options to a ".ini"-like file or memory-stored string list. <a href="#a913c3433af4564cedeb25e24ace1cf28"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#aa059b0160ed9881c284bcea9a42c51f8">saveToConfigFileName</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &config_file, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Behaves like saveToConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to save the file. <a href="#aa059b0160ed9881c284bcea9a42c51f8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a37c6d8d52b1d9bdacaf073e6910bdd7f">dumpToConsole</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must display clearly all the contents of the structure in textual form, sending it to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a11e4d45d9b26b49c9b97ad044634ff2b">insert_SIFTs_from_monocular_images</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true (default), the insertion of a <a class="el" href="classmrpt_1_1slam_1_1_c_observation_image.html" title="Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.">CObservationImage</a> in the map will insert SIFT 3D features. <a href="#a11e4d45d9b26b49c9b97ad044634ff2b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a7a89051e949d6e531cc296d549f37ed9">insert_SIFTs_from_stereo_images</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true (default), the insertion of a <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html" title="Observation class for either a pair of left+right or left+disparity images from a stereo camera...">CObservationStereoImages</a> in the map will insert SIFT 3D features. <a href="#a7a89051e949d6e531cc296d549f37ed9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a0c9aad4bafb8dd6ca3bd5a2f5bb58272">insert_Landmarks_from_range_scans</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true (default), inserting a <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">CObservation2DRangeScan</a> in the map will generate landmarks for each range. <a href="#a0c9aad4bafb8dd6ca3bd5a2f5bb58272"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a53290e64580a70d8525e714dd47ab024">SiftCorrRatioThreshold</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[For SIFT landmarks only] The ratio between the best and second best descriptor distances to set as correspondence (Default=0.4) <a href="#a53290e64580a70d8525e714dd47ab024"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a3a16802c241daf41d86e6905aed5f66d">SiftLikelihoodThreshold</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[For SIFT landmarks only] The minimum likelihood value of a match to set as correspondence (Default=0.5) <a href="#a3a16802c241daf41d86e6905aed5f66d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a11544465a97c7b9d85130e8b5e8272b2">SiftEDDThreshold</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[For SIFT landmarks only] The minimum Euclidean Descriptor Distance value of a match to set as correspondence (Default=200) <a href="#a11544465a97c7b9d85130e8b5e8272b2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a38d0c419ad64d40acc5fdaafa43b6712">SIFTMatching3DMethod</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[For SIFT landmarks only] Method to compute 3D matching (Default = 0 (Our method)) 0: Our method -> Euclidean Distance between Descriptors and 3D position 1: Sim, Elinas, Griffin, Little -> Euclidean Distance between Descriptors <a href="#a38d0c419ad64d40acc5fdaafa43b6712"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a50173297585861f83d18818a6cb5724b">SIFTLikelihoodMethod</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[For SIFT landmarks only] Method to compute the likelihood (Default = 0 (Our method)) 0: Our method -> Euclidean Distance between Descriptors and 3D position 1: Sim, Elinas, Griffin, Little -> 3D position <a href="#a50173297585861f83d18818a6cb5724b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a4bc995bd88c092efd584cc89d2dcd74f">SIFTsLoadDistanceOfTheMean</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[For SIFT landmarks only] The distance (in meters) of the mean value of landmarks, for the initial position PDF (Default = 3m) <a href="#a4bc995bd88c092efd584cc89d2dcd74f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a2b250998258fbe77950000cd557c8f6c">SIFTsLoadEllipsoidWidth</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[For SIFT landmarks only] The width (in meters, standard deviation) of the ellipsoid in the axis perpendicular to the main directiom (Default = 0.05f) <a href="#a2b250998258fbe77950000cd557c8f6c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a2b366a5511b0035fb068e923fc957db3">SIFTs_stdXY</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[For SIFT landmarks only] The standard deviation (in pixels) for the SIFTs detector (This is used for the Jacobbian to project stereo images to 3D) <a href="#a2b366a5511b0035fb068e923fc957db3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a3c7639fd0e137cae887132dbf61edb94">SIFTs_stdDisparity</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a5b81ad06c8a4f81e5335e879aa3cf38f">SIFTs_numberOfKLTKeypoints</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Number of points to extract in the image. <a href="#a5b81ad06c8a4f81e5335e879aa3cf38f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a2dfc4ff188768eb2b5f366e2735ac372">SIFTs_stereo_maxDepth</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum depth of 3D landmarks when loading a landmarks map from a stereo image observation. <a href="#a2dfc4ff188768eb2b5f366e2735ac372"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a83b7e8833aaf43691d86aac9e0f8e0d9">SIFTs_epipolar_TH</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum distance (in pixels) from a point to a certain epipolar line to be considered a potential match. <a href="#a83b7e8833aaf43691d86aac9e0f8e0d9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a417e55531201b11270a9c78a146ac492">PLOT_IMAGES</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Indicates if the images (as well as the SIFT detected features) should be shown in a window. <a href="#a417e55531201b11270a9c78a146ac492"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a9f9974fcd4fc296a0025e13069c8c6f3">SIFT_feat_options</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map. <a href="#a9f9974fcd4fc296a0025e13069c8c6f3"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-static-methods"></a>
Static Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a886e9903515fdb12d4f052a7fd582bb6">dumpVar_int</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, int v)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. <a href="#a886e9903515fdb12d4f052a7fd582bb6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a18862f2d04fc18dd2c2662331156189f">dumpVar_float</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, float v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ac4ee21d250d3b3574790ceac343a27a9">dumpVar_double</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, double v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a63837b199914f55d8f0bd950f598fe14">dumpVar_bool</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, bool v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a60b1c6599953f1d593e6a7b0421e5a77">dumpVar_string</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, const <a class="el" href="classstd_1_1string.html">std::string</a> &v)</td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a5749d6bad0fdbbe6fed5c683686084e2"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::TInsertionOptions" ref="a5749d6bad0fdbbe6fed5c683686084e2" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::slam::CLandmarksMap::TInsertionOptions::TInsertionOptions </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Initilization of default parameters. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::dumpToConsole" ref="a37c6d8d52b1d9bdacaf073e6910bdd7f" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CLoadableOptions::dumpToConsole </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>This method must display clearly all the contents of the structure in textual form, sending it to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
</div>
</div>
<a class="anchor" id="ab2f0ebc73539ce4d5a2bb4fc18be5057"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::dumpToTextStream" ref="ab2f0ebc73539ce4d5a2bb4fc18be5057" args="(CStream &out) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::slam::CLandmarksMap::TInsertionOptions::dumpToTextStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">utils::CLoadableOptions</a>. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#adbe314b74deedfe953290ebf48750883">mrpt::utils::CLoadableOptions</a>.</p>
</div>
</div>
<a class="anchor" id="a63837b199914f55d8f0bd950f598fe14"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::dumpVar_bool" ref="a63837b199914f55d8f0bd950f598fe14" args="(CStream &out, const char *varName, bool v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_bool </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::dumpVar_double" ref="ac4ee21d250d3b3574790ceac343a27a9" args="(CStream &out, const char *varName, double v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_double </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a18862f2d04fc18dd2c2662331156189f"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::dumpVar_float" ref="a18862f2d04fc18dd2c2662331156189f" args="(CStream &out, const char *varName, float v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_float </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a886e9903515fdb12d4f052a7fd582bb6"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::dumpVar_int" ref="a886e9903515fdb12d4f052a7fd582bb6" args="(CStream &out, const char *varName, int v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_int </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. </p>
</div>
</div>
<a class="anchor" id="a60b1c6599953f1d593e6a7b0421e5a77"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::dumpVar_string" ref="a60b1c6599953f1d593e6a7b0421e5a77" args="(CStream &out, const char *varName, const std::string &v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_string </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a6f0ff6a514eccc00aedb2cdec51cd35d"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::loadFromConfigFile" ref="a6f0ff6a514eccc00aedb2cdec51cd35d" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::slam::CLandmarksMap::TInsertionOptions::loadFromConfigFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"><em>source</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">utils::CLoadableOptions</a>. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2">mrpt::utils::CLoadableOptions</a>.</p>
</div>
</div>
<a class="anchor" id="a1ce8e0f241fe85f78095e23d37b2b635"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::loadFromConfigFileName" ref="a1ce8e0f241fe85f78095e23d37b2b635" args="(const std::string &config_file, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CLoadableOptions::loadFromConfigFileName </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>config_file</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to load the file. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2" title="This method load the options from a ".ini"-like file or memory-stored string list.">loadFromConfigFile</a> </dd></dl>
</div>
</div>
<a class="anchor" id="a913c3433af4564cedeb25e24ace1cf28"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::saveToConfigFile" ref="a913c3433af4564cedeb25e24ace1cf28" args="(mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CLoadableOptions::saveToConfigFile </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"><em>source</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>This method saves the options to a ".ini"-like file or memory-stored string list. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2" title="This method load the options from a ".ini"-like file or memory-stored string list.">loadFromConfigFile</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#aa059b0160ed9881c284bcea9a42c51f8" title="Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile obje...">saveToConfigFileName</a> </dd></dl>
<p>Reimplemented in <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html#ab41c594d4e248ace4a2b6c7e4d082a1c">mrpt::vision::TMultiResDescOptions</a>, and <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html#a0ddc0e48338f1c420ed1e9a34d106865">mrpt::vision::TMultiResDescMatchOptions</a>.</p>
<p>Definition at line <a class="el" href="_c_loadable_options_8h_source.html#l00087">87</a> of file <a class="el" href="_c_loadable_options_8h_source.html">CLoadableOptions.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>.</p>
</div>
</div>
<a class="anchor" id="aa059b0160ed9881c284bcea9a42c51f8"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::saveToConfigFileName" ref="aa059b0160ed9881c284bcea9a42c51f8" args="(const std::string &config_file, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CLoadableOptions::saveToConfigFileName </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>config_file</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Behaves like saveToConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to save the file. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a913c3433af4564cedeb25e24ace1cf28" title="This method saves the options to a ".ini"-like file or memory-stored string list.">saveToConfigFile</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a1ce8e0f241fe85f78095e23d37b2b635" title="Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile ob...">loadFromConfigFileName</a> </dd></dl>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a0c9aad4bafb8dd6ca3bd5a2f5bb58272"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::insert_Landmarks_from_range_scans" ref="a0c9aad4bafb8dd6ca3bd5a2f5bb58272" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a0c9aad4bafb8dd6ca3bd5a2f5bb58272">mrpt::slam::CLandmarksMap::TInsertionOptions::insert_Landmarks_from_range_scans</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>If set to true (default), inserting a <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">CObservation2DRangeScan</a> in the map will generate landmarks for each range. </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00237">237</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a11e4d45d9b26b49c9b97ad044634ff2b"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::insert_SIFTs_from_monocular_images" ref="a11e4d45d9b26b49c9b97ad044634ff2b" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a11e4d45d9b26b49c9b97ad044634ff2b">mrpt::slam::CLandmarksMap::TInsertionOptions::insert_SIFTs_from_monocular_images</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>If set to true (default), the insertion of a <a class="el" href="classmrpt_1_1slam_1_1_c_observation_image.html" title="Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.">CObservationImage</a> in the map will insert SIFT 3D features. </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00229">229</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a7a89051e949d6e531cc296d549f37ed9"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::insert_SIFTs_from_stereo_images" ref="a7a89051e949d6e531cc296d549f37ed9" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a7a89051e949d6e531cc296d549f37ed9">mrpt::slam::CLandmarksMap::TInsertionOptions::insert_SIFTs_from_stereo_images</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>If set to true (default), the insertion of a <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html" title="Observation class for either a pair of left+right or left+disparity images from a stereo camera...">CObservationStereoImages</a> in the map will insert SIFT 3D features. </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00233">233</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a417e55531201b11270a9c78a146ac492"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::PLOT_IMAGES" ref="a417e55531201b11270a9c78a146ac492" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a417e55531201b11270a9c78a146ac492">mrpt::slam::CLandmarksMap::TInsertionOptions::PLOT_IMAGES</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Indicates if the images (as well as the SIFT detected features) should be shown in a window. </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00292">292</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a9f9974fcd4fc296a0025e13069c8c6f3"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::SIFT_feat_options" ref="a9f9974fcd4fc296a0025e13069c8c6f3" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a> <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a9f9974fcd4fc296a0025e13069c8c6f3">mrpt::slam::CLandmarksMap::TInsertionOptions::SIFT_feat_options</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>There exists another <em>SIFT_feat_options</em> field in the <em>likelihoodOptions</em> member. </dd>
<dd>
All parameters of this field can be loaded from a config file. See <a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html" title="The set of parameters for all the detectors & descriptor algorithms.">mrpt::vision::CFeatureExtraction::TOptions</a> for the names of the expected fields. </dd></dl>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00298">298</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a53290e64580a70d8525e714dd47ab024"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::SiftCorrRatioThreshold" ref="a53290e64580a70d8525e714dd47ab024" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a53290e64580a70d8525e714dd47ab024">mrpt::slam::CLandmarksMap::TInsertionOptions::SiftCorrRatioThreshold</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>[For SIFT landmarks only] The ratio between the best and second best descriptor distances to set as correspondence (Default=0.4) </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00241">241</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a11544465a97c7b9d85130e8b5e8272b2"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::SiftEDDThreshold" ref="a11544465a97c7b9d85130e8b5e8272b2" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a11544465a97c7b9d85130e8b5e8272b2">mrpt::slam::CLandmarksMap::TInsertionOptions::SiftEDDThreshold</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>[For SIFT landmarks only] The minimum Euclidean Descriptor Distance value of a match to set as correspondence (Default=200) </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00250">250</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a50173297585861f83d18818a6cb5724b"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTLikelihoodMethod" ref="a50173297585861f83d18818a6cb5724b" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned int <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a50173297585861f83d18818a6cb5724b">mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTLikelihoodMethod</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>[For SIFT landmarks only] Method to compute the likelihood (Default = 0 (Our method)) 0: Our method -> Euclidean Distance between Descriptors and 3D position 1: Sim, Elinas, Griffin, Little -> 3D position </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00262">262</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a3a16802c241daf41d86e6905aed5f66d"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::SiftLikelihoodThreshold" ref="a3a16802c241daf41d86e6905aed5f66d" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a3a16802c241daf41d86e6905aed5f66d">mrpt::slam::CLandmarksMap::TInsertionOptions::SiftLikelihoodThreshold</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>[For SIFT landmarks only] The minimum likelihood value of a match to set as correspondence (Default=0.5) </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00245">245</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a38d0c419ad64d40acc5fdaafa43b6712"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTMatching3DMethod" ref="a38d0c419ad64d40acc5fdaafa43b6712" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">unsigned int <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a38d0c419ad64d40acc5fdaafa43b6712">mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTMatching3DMethod</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>[For SIFT landmarks only] Method to compute 3D matching (Default = 0 (Our method)) 0: Our method -> Euclidean Distance between Descriptors and 3D position 1: Sim, Elinas, Griffin, Little -> Euclidean Distance between Descriptors </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00256">256</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a83b7e8833aaf43691d86aac9e0f8e0d9"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_epipolar_TH" ref="a83b7e8833aaf43691d86aac9e0f8e0d9" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a83b7e8833aaf43691d86aac9e0f8e0d9">mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_epipolar_TH</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Maximum distance (in pixels) from a point to a certain epipolar line to be considered a potential match. </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00288">288</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a5b81ad06c8a4f81e5335e879aa3cf38f"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_numberOfKLTKeypoints" ref="a5b81ad06c8a4f81e5335e879aa3cf38f" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a5b81ad06c8a4f81e5335e879aa3cf38f">mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_numberOfKLTKeypoints</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Number of points to extract in the image. </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00280">280</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a3c7639fd0e137cae887132dbf61edb94"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_stdDisparity" ref="a3c7639fd0e137cae887132dbf61edb94" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a3c7639fd0e137cae887132dbf61edb94">mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_stdDisparity</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00276">276</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a2b366a5511b0035fb068e923fc957db3"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_stdXY" ref="a2b366a5511b0035fb068e923fc957db3" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a2b366a5511b0035fb068e923fc957db3">mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_stdXY</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>[For SIFT landmarks only] The standard deviation (in pixels) for the SIFTs detector (This is used for the Jacobbian to project stereo images to 3D) </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00276">276</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a2dfc4ff188768eb2b5f366e2735ac372"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_stereo_maxDepth" ref="a2dfc4ff188768eb2b5f366e2735ac372" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a2dfc4ff188768eb2b5f366e2735ac372">mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTs_stereo_maxDepth</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Maximum depth of 3D landmarks when loading a landmarks map from a stereo image observation. </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00284">284</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a4bc995bd88c092efd584cc89d2dcd74f"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTsLoadDistanceOfTheMean" ref="a4bc995bd88c092efd584cc89d2dcd74f" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a4bc995bd88c092efd584cc89d2dcd74f">mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTsLoadDistanceOfTheMean</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>[For SIFT landmarks only] The distance (in meters) of the mean value of landmarks, for the initial position PDF (Default = 3m) </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00268">268</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a2b250998258fbe77950000cd557c8f6c"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTsLoadEllipsoidWidth" ref="a2b250998258fbe77950000cd557c8f6c" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#a2b250998258fbe77950000cd557c8f6c">mrpt::slam::CLandmarksMap::TInsertionOptions::SIFTsLoadEllipsoidWidth</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>[For SIFT landmarks only] The width (in meters, standard deviation) of the ellipsoid in the axis perpendicular to the main directiom (Default = 0.05f) </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00272">272</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
</div>
</div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
