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mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions Class Reference

Detailed Description

With this struct options are provided to the observation likelihood computation process.

Definition at line 393 of file maps/COccupancyGridMap2D.h.

#include <mrpt/maps/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions:
Inheritance graph

Public Member Functions

 TLikelihoodOptions ()
 Initilization of default parameters. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
 This method load the options from a ".ini" file. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) const
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout) More...
 

Public Attributes

TLikelihoodMethod likelihoodMethod
 The selected method to compute an observation likelihood. More...
 
float LF_stdHit
 [LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35 More...
 
float LF_zHit
 
float LF_zRandom
 [LikelihoodField] More...
 
float LF_maxRange
 [LikelihoodField] The max. range of the sensor (Default= 81 m) More...
 
uint32_t LF_decimation
 [LikelihoodField] The decimation of the points in a scan, default=1 == no decimation More...
 
float LF_maxCorrsDistance
 [LikelihoodField] The max. distance for searching correspondences around each sensed point More...
 
bool LF_useSquareDist
 [LikelihoodField] (Default:false) Use exp(dist^2/std^2) instead of exp(dist^2/std^2) More...
 
bool LF_alternateAverageMethod
 [LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product". More...
 
float MI_exponent
 [MI] The exponent in the MI likelihood computation. Default value = 5 More...
 
uint32_t MI_skip_rays
 [MI] The scan rays decimation: at every N rays, one will be used to compute the MI More...
 
float MI_ratio_max_distance
 [MI] The ratio for the max. distance used in the MI computation and in the insertion of scans, e.g. if set to 2.0 the MI will use twice the distance that the update distance. More...
 
bool rayTracing_useDistanceFilter
 [rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones. More...
 
int32_t rayTracing_decimation
 [rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges. More...
 
float rayTracing_stdHit
 [rayTracing] The laser range sigma. More...
 
int32_t consensus_takeEachRange
 [Consensus] The down-sample ratio of ranges (default=1, consider all the ranges) More...
 
float consensus_pow
 [Consensus] The power factor for the likelihood (default=5) More...
 
std::vector< float > OWA_weights
 [OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse. More...
 
bool enableLikelihoodCache
 Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false). More...
 

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

COccupancyGridMap2D::TLikelihoodOptions::TLikelihoodOptions ( )

Initilization of default parameters.

Definition at line 780 of file COccupancyGridMap2D_likelihood.cpp.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void COccupancyGridMap2D::TLikelihoodOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual
void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
void COccupancyGridMap2D::TLikelihoodOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
virtual

This method load the options from a ".ini" file.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution=0.10 ; blah blah...
modeSelection=1 ; 0=blah, 1=blah,...

Implements mrpt::utils::CLoadableOptions.

Definition at line 811 of file COccupancyGridMap2D_likelihood.cpp.

References consensus_pow, consensus_takeEachRange, enableLikelihoodCache, LF_alternateAverageMethod, LF_decimation, LF_maxCorrsDistance, LF_maxRange, LF_stdHit, LF_useSquareDist, LF_zHit, LF_zRandom, likelihoodMethod, MI_exponent, MI_ratio_max_distance, MI_skip_rays, MRPT_LOAD_CONFIG_VAR_CAST, OWA_weights, rayTracing_stdHit, rayTracing_useDistanceFilter, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_vector().

void CLoadableOptions::loadFromConfigFileName ( const std::string config_file,
const std::string section 
)
inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also
loadFromConfigFile

Definition at line 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams().

void CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtualinherited
void CLoadableOptions::saveToConfigFileName ( const std::string config_file,
const std::string section 
) const
inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also
saveToConfigFile, loadFromConfigFileName

Definition at line 39 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

Member Data Documentation

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_pow

[Consensus] The power factor for the likelihood (default=5)

Definition at line 427 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_takeEachRange

[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges)

Definition at line 426 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::enableLikelihoodCache

Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false).

Definition at line 430 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_alternateAverageMethod

[LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product".

Definition at line 419 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_decimation

[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation

Definition at line 416 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxCorrsDistance

[LikelihoodField] The max. distance for searching correspondences around each sensed point

Definition at line 417 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxRange

[LikelihoodField] The max. range of the sensor (Default= 81 m)

Definition at line 415 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_stdHit

[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35

Definition at line 413 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_useSquareDist

[LikelihoodField] (Default:false) Use exp(dist^2/std^2) instead of exp(dist^2/std^2)

Definition at line 418 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zHit

Definition at line 414 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zRandom

[LikelihoodField]

Definition at line 414 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

TLikelihoodMethod mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::likelihoodMethod

The selected method to compute an observation likelihood.

Definition at line 412 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_exponent

[MI] The exponent in the MI likelihood computation. Default value = 5

Definition at line 420 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_ratio_max_distance

[MI] The ratio for the max. distance used in the MI computation and in the insertion of scans, e.g. if set to 2.0 the MI will use twice the distance that the update distance.

Definition at line 422 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_skip_rays

[MI] The scan rays decimation: at every N rays, one will be used to compute the MI

Definition at line 421 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

std::vector<float> mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::OWA_weights

[OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse.

Definition at line 428 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_decimation

[rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges.

Definition at line 424 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream().

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_stdHit

[rayTracing] The laser range sigma.

Definition at line 425 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_useDistanceFilter

[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones.

Definition at line 423 of file maps/COccupancyGridMap2D.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().




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