With this struct options are provided to the observation insertion process.
Definition at line 165 of file maps/CPointsMap.h.
#include <mrpt/maps/CPointsMap.h>
Public Member Functions | |
TInsertionOptions () | |
Initilization of default parameters. More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE |
This method load the options from a ".ini"-like file or memory-stored string list. 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 | writeToStream (mrpt::utils::CStream &out) const |
Binary dump to stream - for usage in derived classes' serialization. More... | |
void | readFromStream (mrpt::utils::CStream &in) |
Binary dump to stream - for usage in derived classes' serialization. More... | |
void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
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 §ion) 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 §ion) 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 | |
float | minDistBetweenLaserPoints |
The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. Default is 0.02 meters. More... | |
bool | addToExistingPointsMap |
Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. Default is false. More... | |
bool | also_interpolate |
If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false). More... | |
bool | disableDeletion |
If set to false (default=true) points in the same plane as the inserted scan and inside the free space, are erased: i.e. they don't exist yet. More... | |
bool | fuseWithExisting |
If set to true (default=false), inserted points are "fused" with previously existent ones. This shrink the size of the points map, but its slower. More... | |
bool | isPlanarMap |
If set to true, only HORIZONTAL (in the XY plane) measurements will be inserted in the map (Default value is false, thus 3D maps are generated). More... | |
float | horizontalTolerance |
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0). More... | |
float | maxDistForInterpolatePoints |
The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true) More... | |
bool | insertInvalidPoints |
Points with x,y,z coordinates set to zero will also be inserted. 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) |
CPointsMap::TInsertionOptions::TInsertionOptions | ( | ) |
Initilization of default parameters.
Definition at line 611 of file CPointsMap.cpp.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
Definition at line 47 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CHMTSLAM::loadOptions(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().
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virtual |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented from mrpt::utils::CLoadableOptions.
Definition at line 689 of file CPointsMap.cpp.
References LOADABLEOPTS_DUMP_VAR, LOADABLEOPTS_DUMP_VAR_DEG, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 67 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 62 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 57 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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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().
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staticprotectedinherited |
Definition at line 72 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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virtual |
This method load the options from a ".ini"-like file or memory-stored string list.
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:
Implements mrpt::utils::CLoadableOptions.
Definition at line 720 of file CPointsMap.cpp.
References MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_DEGREES.
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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.
Definition at line 23 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::loadFromConfigFile().
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().
void CPointsMap::TInsertionOptions::readFromStream | ( | mrpt::utils::CStream & | in | ) |
Binary dump to stream - for usage in derived classes' serialization.
Definition at line 636 of file CPointsMap.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.
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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicVFF::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.
Definition at line 31 of file CLoadableOptions.cpp.
References MRPT_UNUSED_PARAM.
Referenced by mrpt::utils::CLoadableOptions::dumpToTextStream(), and mrpt::utils::CLoadableOptions::saveToConfigFileName().
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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.
Definition at line 39 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::saveToConfigFile().
void CPointsMap::TInsertionOptions::writeToStream | ( | mrpt::utils::CStream & | out | ) | const |
Binary dump to stream - for usage in derived classes' serialization.
Definition at line 625 of file CPointsMap.cpp.
References version.
bool mrpt::maps::CPointsMap::TInsertionOptions::addToExistingPointsMap |
Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. Default is false.
Definition at line 173 of file maps/CPointsMap.h.
Referenced by mrpt::maps::CPointsMap::internal_insertObservation(), and mrpt::maps::CPointsMap::loadFromVelodyneScan().
bool mrpt::maps::CPointsMap::TInsertionOptions::also_interpolate |
If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false).
Definition at line 174 of file maps/CPointsMap.h.
Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().
bool mrpt::maps::CPointsMap::TInsertionOptions::disableDeletion |
If set to false (default=true) points in the same plane as the inserted scan and inside the free space, are erased: i.e. they don't exist yet.
Definition at line 175 of file maps/CPointsMap.h.
Referenced by mrpt::maps::CPointsMap::internal_insertObservation().
bool mrpt::maps::CPointsMap::TInsertionOptions::fuseWithExisting |
If set to true (default=false), inserted points are "fused" with previously existent ones. This shrink the size of the points map, but its slower.
Definition at line 176 of file maps/CPointsMap.h.
Referenced by mrpt::maps::CPointsMap::internal_insertObservation().
float mrpt::maps::CPointsMap::TInsertionOptions::horizontalTolerance |
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0).
Definition at line 178 of file maps/CPointsMap.h.
Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), and mrpt::maps::CPointsMap::internal_insertObservation().
bool mrpt::maps::CPointsMap::TInsertionOptions::insertInvalidPoints |
Points with x,y,z coordinates set to zero will also be inserted.
Definition at line 180 of file maps/CPointsMap.h.
bool mrpt::maps::CPointsMap::TInsertionOptions::isPlanarMap |
If set to true, only HORIZONTAL (in the XY plane) measurements will be inserted in the map (Default value is false, thus 3D maps are generated).
Definition at line 177 of file maps/CPointsMap.h.
Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), and mrpt::maps::CPointsMap::internal_insertObservation().
float mrpt::maps::CPointsMap::TInsertionOptions::maxDistForInterpolatePoints |
The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true)
Definition at line 179 of file maps/CPointsMap.h.
float mrpt::maps::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints |
The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. Default is 0.02 meters.
Definition at line 172 of file maps/CPointsMap.h.
Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderICP::processObservation(), and run_rnav_test().
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