MRPT  1.9.9
List of all members | Public Member Functions | Public Attributes | Static Protected Member Functions
mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions Class Reference

Detailed Description

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

Definition at line 255 of file COccupancyGridMap3D.h.

#include <mrpt/maps/COccupancyGridMap3D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions:

Public Member Functions

 TLikelihoodOptions ()=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 &c, const std::string &s) 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

TLikelihoodMethod likelihoodMethod {lmLikelihoodField_Thrun}
 The selected method to compute an observation likelihood. More...
 
float LF_stdHit {0.35f}
 [LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35 More...
 
float LF_zHit {0.95f}
 [LikelihoodField] More...
 
float LF_zRandom {0.05f}
 
float LF_maxRange {20.0f}
 [LikelihoodField] The max. More...
 
uint32_t LF_decimation {1}
 [LikelihoodField] The decimation of the points in a scan, default=1 == no decimation More...
 
float LF_maxCorrsDistance {0.3f}
 [LikelihoodField] The max. More...
 
bool LF_useSquareDist {false}
 [LikelihoodField] (Default:false) Use exp(dist^2/std^2) instead of exp(dist^2/std^2) More...
 
int32_t rayTracing_decimation {10}
 [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 {1.0f}
 [rayTracing] The laser range sigma. 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

◆ TLikelihoodOptions()

mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::TLikelihoodOptions ( )
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(), mrpt::ros1bridge::MapHdl::loadMap(), and mrpt::apps::CGridMapAlignerApp::run().

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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::CBeaconMap::TInsertionOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, 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::bayes::TKF_options, mrpt::slam::CGridMapAligner::TConfigParams, 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(), out, and mrpt::config::CLoadableOptions::saveToConfigFile().

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

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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(), 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 57 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 51 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 45 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 70 of file CLoadableOptions.cpp.

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

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◆ loadFromConfigFile()

void COccupancyGridMap3D::TLikelihoodOptions::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 212 of file COccupancyGridMap3D_insert.cpp.

References iniFile(), LF_decimation, LF_maxCorrsDistance, LF_maxRange, LF_stdHit, LF_useSquareDist, LF_zHit, LF_zRandom, likelihoodMethod, MRPT_LOAD_CONFIG_VAR, rayTracing_decimation, and rayTracing_stdHit.

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::TLikelihoodOptions::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 230 of file COccupancyGridMap3D_insert.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

◆ LF_decimation

uint32_t mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_decimation {1}

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

Definition at line 290 of file COccupancyGridMap3D.h.

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

◆ LF_maxCorrsDistance

float mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_maxCorrsDistance {0.3f}

[LikelihoodField] The max.

distance for searching correspondences around each sensed point

Definition at line 293 of file COccupancyGridMap3D.h.

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

◆ LF_maxRange

float mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_maxRange {20.0f}

[LikelihoodField] The max.

range of the sensor (Default= 81 m)

Definition at line 287 of file COccupancyGridMap3D.h.

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

◆ LF_stdHit

float mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_stdHit {0.35f}

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

Definition at line 283 of file COccupancyGridMap3D.h.

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

◆ LF_useSquareDist

bool mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_useSquareDist {false}

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

Definition at line 296 of file COccupancyGridMap3D.h.

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

◆ LF_zHit

float mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_zHit {0.95f}

◆ LF_zRandom

float mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_zRandom {0.05f}

◆ likelihoodMethod

TLikelihoodMethod mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::likelihoodMethod {lmLikelihoodField_Thrun}

The selected method to compute an observation likelihood.

Definition at line 280 of file COccupancyGridMap3D.h.

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

◆ rayTracing_decimation

int32_t mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::rayTracing_decimation {10}

[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 300 of file COccupancyGridMap3D.h.

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

◆ rayTracing_stdHit

float mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::rayTracing_stdHit {1.0f}



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