Detailed Description

With this struct options are provided to the observation insertion process.

See also: CObservation::insertIntoPointsMap

Definition at line 220 of file CPointsMap.h.

#include <mrpt/maps/CPointsMap.h>

Inheritance diagram for mrpt::maps::CPointsMap::TInsertionOptions:

Public Member Functions
	TInsertionOptions ()
	Initilization of default parameters. More...

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) override
	This method load the options from a ".ini"-like file or memory-stored string list. More...

void	dumpToTextStream (std::ostream &out) const override
	This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More...

void	writeToStream (mrpt::serialization::CArchive &out) const
	Binary dump to stream - for usage in derived classes' serialization. More...

void	readFromStream (mrpt::serialization::CArchive &in)
	Binary dump to stream - for usage in derived classes' serialization. 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::config::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
float	minDistBetweenLaserPoints {0.02f}
	The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. More...

bool	addToExistingPointsMap {true}
	Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. More...

bool	also_interpolate {false}
	If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false). More...

bool	disableDeletion {true}
	If set to false (default=true) points in the same plane as the inserted scan and inside the free space, are erased: i.e. More...

bool	fuseWithExisting {false}
	If set to true (default=false), inserted points are "fused" with previously existent ones. More...

bool	isPlanarMap {false}
	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 {2.0f}
	The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true) More...

bool	insertInvalidPoints {false}
	Points with x,y,z coordinates set to zero will also be inserted. More...

Static Protected Member Functions
static void	dumpVar_int (std::ostream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...

static void	dumpVar_float (std::ostream &out, const char *varName, float v)

static void	dumpVar_double (std::ostream &out, const char *varName, double v)

static void	dumpVar_bool (std::ostream &out, const char *varName, bool v)

static void	dumpVar_string (std::ostream &out, const char *varName, const std::string &v)

Constructor & Destructor Documentation

◆ TInsertionOptions()

CPointsMap::TInsertionOptions::TInsertionOptions ( )

Initilization of default parameters.

Definition at line 593 of file CPointsMap.cpp.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 43 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ dumpToTextStream()

void CPointsMap::TInsertionOptions::dumpToTextStream ( std::ostream & out ) const

overridevirtual

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 687 of file CPointsMap.cpp.

References LOADABLEOPTS_DUMP_VAR, LOADABLEOPTS_DUMP_VAR_DEG, and out.

◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	std::ostream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	std::ostream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 56 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	std::ostream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 50 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	std::ostream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

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

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	std::ostream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 69 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ loadFromConfigFile()

void CPointsMap::TInsertionOptions::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	section
	)

overridevirtual

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:

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

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 728 of file CPointsMap.cpp.

References iniFile(), MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_DEGREES.

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◆ loadFromConfigFileName()

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 22 of file CLoadableOptions.cpp.

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

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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◆ readFromStream()

void CPointsMap::TInsertionOptions::readFromStream ( mrpt::serialization::CArchive & in )

Binary dump to stream - for usage in derived classes' serialization.

Definition at line 612 of file CPointsMap.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile	(	mrpt::config::CConfigFileBase &	target,
		const std::string &	section
	)		const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::maps::COccupancyGridMap3D::TInsertionOptions, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::maps::TMapGenericParams, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::maps::TMetricMapInitializer, 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 29 of file CLoadableOptions.cpp.

Referenced by mrpt::config::CLoadableOptions::dumpToTextStream(), and mrpt::config::CLoadableOptions::saveToConfigFileName().

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◆ saveToConfigFileName()

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 36 of file CLoadableOptions.cpp.

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

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◆ writeToStream()

void CPointsMap::TInsertionOptions::writeToStream ( mrpt::serialization::CArchive & out ) const

Binary dump to stream - for usage in derived classes' serialization.

Definition at line 600 of file CPointsMap.cpp.

References out.

Member Data Documentation

◆ addToExistingPointsMap

bool mrpt::maps::CPointsMap::TInsertionOptions::addToExistingPointsMap {true}

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 237 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::internal_insertObservation(), and mrpt::maps::CPointsMap::loadFromVelodyneScan().

◆ also_interpolate

bool mrpt::maps::CPointsMap::TInsertionOptions::also_interpolate {false}

If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false).

Definition at line 240 of file CPointsMap.h.

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ disableDeletion

bool mrpt::maps::CPointsMap::TInsertionOptions::disableDeletion {true}

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 244 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::internal_insertObservation().

◆ fuseWithExisting

bool mrpt::maps::CPointsMap::TInsertionOptions::fuseWithExisting {false}

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 248 of file CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::internal_insertObservation().

◆ horizontalTolerance

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 256 of file CPointsMap.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), and mrpt::maps::CPointsMap::internal_insertObservation().

◆ insertInvalidPoints

bool mrpt::maps::CPointsMap::TInsertionOptions::insertInvalidPoints {false}

Points with x,y,z coordinates set to zero will also be inserted.

Definition at line 261 of file CPointsMap.h.

◆ isPlanarMap

bool mrpt::maps::CPointsMap::TInsertionOptions::isPlanarMap {false}

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).

See also: horizontalTolerance

Definition at line 252 of file CPointsMap.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), and mrpt::maps::CPointsMap::internal_insertObservation().

◆ maxDistForInterpolatePoints

float mrpt::maps::CPointsMap::TInsertionOptions::maxDistForInterpolatePoints {2.0f}

The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true)

Definition at line 259 of file CPointsMap.h.

◆ minDistBetweenLaserPoints

float mrpt::maps::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints {0.02f}

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 233 of file 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(), mrpt::apps::CGridMapAlignerApp::run(), and run_rnav_test().

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TInsertionOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ readFromStream()

◆ saveToConfigFile()

◆ saveToConfigFileName()

◆ writeToStream()

Member Data Documentation

◆ addToExistingPointsMap

◆ also_interpolate

◆ disableDeletion

◆ fuseWithExisting

◆ horizontalTolerance

◆ insertInvalidPoints

◆ isPlanarMap

◆ maxDistForInterpolatePoints

◆ minDistBetweenLaserPoints