MRPT  1.9.9
mrpt::maps::COccupancyGridMap3D::TInsertionOptions Class Reference

Detailed Description

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

See also
CObservation::insertIntoGridMap

Definition at line 198 of file COccupancyGridMap3D.h.

#include <mrpt/maps/COccupancyGridMap3D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap3D::TInsertionOptions:

Public Member Functions

 TInsertionOptions ()=default
 
void loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) override
 This method load the options from a ".ini" file. More...
 
void saveToConfigFile (mrpt::config::CConfigFileBase &target, const std::string &section) const override
 This method saves the options to a ".ini"-like file or memory-stored string list. 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...
 
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...
 
virtual void dumpToTextStream (std::ostream &out) const
 This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More...
 

Public Attributes

float maxDistanceInsertion {15.0f}
 Largest distance at which voxels are updated (Default: 15 meters) More...
 
float maxOccupancyUpdateCertainty {0.65f}
 A value in the range [0.5,1] used for updating voxel with a Bayesian approach (default 0.65) More...
 
float maxFreenessUpdateCertainty {.0f}
 A value in the range [0.5,1] for updating a free voxel. More...
 
uint16_t decimation_3d_range {8}
 Specify the decimation of 3D range scans. More...
 
uint16_t decimation {1}
 Decimation for insertPointCloud() or 2D range scans (Default: 1) 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()

mrpt::maps::COccupancyGridMap3D::TInsertionOptions::TInsertionOptions ( )
default

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const
inherited

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

Definition at line 44 of file CLoadableOptions.cpp.

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

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::ros1bridge::MapHdl::loadMap().

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◆ dumpToTextStream()

void CLoadableOptions::dumpToTextStream ( std::ostream &  out) const
virtualinherited

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 in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMatchingOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CPointsMap::TRenderOptions, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::vision::TStereoSystemParams, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::bayes::TKF_options, mrpt::graphslam::TSlidingWindow, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::maps::TMetricMapInitializer, mrpt::slam::CMetricMapBuilderICP::TConfigParams, and mrpt::slam::TKLDParams.

Definition at line 77 of file CLoadableOptions.cpp.

References mrpt::config::CConfigFileMemory::getContent(), and mrpt::config::CLoadableOptions::saveToConfigFile().

Referenced by mrpt::config::CLoadableOptions::dumpToConsole(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), and mrpt::maps::COccupancyGridMap3D::TMapDefinition::dumpToTextStream_map_specific().

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◆ dumpVar_bool()

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

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_double()

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

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_float()

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

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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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 45 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_string()

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

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ loadFromConfigFile()

void COccupancyGridMap3D::TInsertionOptions::loadFromConfigFile ( const mrpt::config::CConfigFileBase source,
const std::string section 
)
overridevirtual

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::config::CLoadableOptions.

Definition at line 37 of file COccupancyGridMap3D_likelihood.cpp.

References decimation, iniFile(), maxDistanceInsertion, maxFreenessUpdateCertainty, maxOccupancyUpdateCertainty, and MRPT_LOAD_CONFIG_VAR.

Referenced by mrpt::maps::COccupancyGridMap3D::TMapDefinition::loadFromConfigFile_map_specific().

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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().

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◆ saveToConfigFile()

void COccupancyGridMap3D::TInsertionOptions::saveToConfigFile ( mrpt::config::CConfigFileBase target,
const std::string section 
) const
overridevirtual

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

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 46 of file COccupancyGridMap3D_likelihood.cpp.

References MRPT_SAVE_CONFIG_VAR_COMMENT.

◆ 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 37 of file CLoadableOptions.cpp.

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

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Member Data Documentation

◆ decimation

uint16_t mrpt::maps::COccupancyGridMap3D::TInsertionOptions::decimation {1}

◆ decimation_3d_range

uint16_t mrpt::maps::COccupancyGridMap3D::TInsertionOptions::decimation_3d_range {8}

Specify the decimation of 3D range scans.

"N" means keeping the minimum range of each block of "NxN" range pixels. (default=8)

Definition at line 235 of file COccupancyGridMap3D.h.

Referenced by mrpt::maps::COccupancyGridMap3D::internal_insertObservationScan3D(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

◆ maxDistanceInsertion

float mrpt::maps::COccupancyGridMap3D::TInsertionOptions::maxDistanceInsertion {15.0f}

Largest distance at which voxels are updated (Default: 15 meters)

Definition at line 223 of file COccupancyGridMap3D.h.

Referenced by loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

◆ maxFreenessUpdateCertainty

float mrpt::maps::COccupancyGridMap3D::TInsertionOptions::maxFreenessUpdateCertainty {.0f}

A value in the range [0.5,1] for updating a free voxel.

(default=0 means use the same than maxOccupancyUpdateCertainty)

Definition at line 229 of file COccupancyGridMap3D.h.

Referenced by mrpt::maps::COccupancyGridMap3D::insertRay(), loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

◆ maxOccupancyUpdateCertainty

float mrpt::maps::COccupancyGridMap3D::TInsertionOptions::maxOccupancyUpdateCertainty {0.65f}

A value in the range [0.5,1] used for updating voxel with a Bayesian approach (default 0.65)

Definition at line 226 of file COccupancyGridMap3D.h.

Referenced by mrpt::maps::COccupancyGridMap3D::insertRay(), loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().




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