With this struct options are provided to the likelihood computations.
Definition at line 346 of file CLandmarksMap.h.
#include <mrpt/maps/CLandmarksMap.h>
Classes | |
struct | TGPSOrigin |
This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot. More... | |
Public Member Functions | |
TLikelihoodOptions () | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) override |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const 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 §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 | |
Parameters for: 2D LIDAR scans | |
unsigned int | rangeScan2D_decimation |
The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation) More... | |
Parameters for: images | |
double | SIFTs_sigma_euclidean_dist |
double | SIFTs_sigma_descriptor_dist |
float | SIFTs_mahaDist_std |
float | SIFTnullCorrespondenceDistance |
int | SIFTs_decimation |
Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation. More... | |
mrpt::vision::CFeatureExtraction::TOptions | SIFT_feat_options |
Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map. More... | |
Parameters for: Range-only observation | |
float | beaconRangesStd |
The standard deviation used for Beacon ranges likelihood (default=0.08) [meters]. More... | |
bool | beaconRangesUseObservationStd |
(Default: false) If true, beaconRangesStd is ignored and each individual CObservationBeaconRanges::stdError field is used instead. More... | |
Parameters for: External robot poses observation | |
float | extRobotPoseStd |
The standard deviation used for external robot poses likelihood (default=0.05) [meters]. More... | |
Parameters for: GPS readings | |
struct mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin | GPSOrigin |
float | GPS_sigma |
A constant "sigma" for GPS localization data (in meters) 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) |
CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions | ( | ) |
Definition at line 2428 of file CLandmarksMap.cpp.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
Definition at line 44 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().
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overridevirtual |
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 2458 of file CLandmarksMap.cpp.
References mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::altitude, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::ang, beaconRangesStd, beaconRangesUseObservationStd, mrpt::vision::CFeatureExtraction::TOptions::dumpToTextStream(), extRobotPoseStd, GPS_sigma, GPSOrigin, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::latitude, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::longitude, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::min_sat, mrpt::utils::CStream::printf(), rangeScan2D_decimation, SIFT_feat_options, SIFTnullCorrespondenceDistance, SIFTs_decimation, SIFTs_mahaDist_std, SIFTs_sigma_descriptor_dist, SIFTs_sigma_euclidean_dist, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::x_shift, and mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::y_shift.
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staticprotectedinherited |
Definition at line 65 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 59 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 54 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 49 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 71 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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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:
Implements mrpt::utils::CLoadableOptions.
Definition at line 2512 of file CLandmarksMap.cpp.
References mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::altitude, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::ang, beaconRangesStd, beaconRangesUseObservationStd, extRobotPoseStd, GPS_sigma, GPSOrigin, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::latitude, mrpt::vision::CFeatureExtraction::TOptions::loadFromConfigFile(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::longitude, M_PI, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::min_sat, rangeScan2D_decimation, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), SIFT_feat_options, SIFTnullCorrespondenceDistance, SIFTs_decimation, SIFTs_mahaDist_std, SIFTs_sigma_descriptor_dist, SIFTs_sigma_euclidean_dist, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::x_shift, and mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::y_shift.
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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 22 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::loadFromConfigFile().
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().
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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::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, 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 29 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 37 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::saveToConfigFile().
float mrpt::maps::CLandmarksMap::TLikelihoodOptions::beaconRangesStd |
The standard deviation used for Beacon ranges likelihood (default=0.08) [meters].
Definition at line 387 of file CLandmarksMap.h.
Referenced by dumpToTextStream(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), and loadFromConfigFile().
bool mrpt::maps::CLandmarksMap::TLikelihoodOptions::beaconRangesUseObservationStd |
(Default: false) If true, beaconRangesStd
is ignored and each individual CObservationBeaconRanges::stdError
field is used instead.
Definition at line 391 of file CLandmarksMap.h.
Referenced by dumpToTextStream(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), and loadFromConfigFile().
float mrpt::maps::CLandmarksMap::TLikelihoodOptions::extRobotPoseStd |
The standard deviation used for external robot poses likelihood (default=0.05) [meters].
Definition at line 398 of file CLandmarksMap.h.
Referenced by dumpToTextStream(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), and loadFromConfigFile().
float mrpt::maps::CLandmarksMap::TLikelihoodOptions::GPS_sigma |
A constant "sigma" for GPS localization data (in meters)
Definition at line 427 of file CLandmarksMap.h.
Referenced by dumpToTextStream(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), and loadFromConfigFile().
struct mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin mrpt::maps::CLandmarksMap::TLikelihoodOptions::GPSOrigin |
unsigned int mrpt::maps::CLandmarksMap::TLikelihoodOptions::rangeScan2D_decimation |
The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation)
Definition at line 361 of file CLandmarksMap.h.
Referenced by dumpToTextStream(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), and loadFromConfigFile().
mrpt::vision::CFeatureExtraction::TOptions mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFT_feat_options |
Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map.
Definition at line 380 of file CLandmarksMap.h.
Referenced by dumpToTextStream(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), and loadFromConfigFile().
float mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTnullCorrespondenceDistance |
Definition at line 369 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), dumpToTextStream(), and loadFromConfigFile().
int mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_decimation |
Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation.
Definition at line 372 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), dumpToTextStream(), and loadFromConfigFile().
float mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_mahaDist_std |
Definition at line 368 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), dumpToTextStream(), and loadFromConfigFile().
double mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_descriptor_dist |
Definition at line 367 of file CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), dumpToTextStream(), and loadFromConfigFile().
double mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_euclidean_dist |
Definition at line 366 of file CLandmarksMap.h.
Referenced by dumpToTextStream(), and loadFromConfigFile().
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