MRPT  1.9.9
mrpt::maps::CPointsMap::TInsertionOptions Struct Reference

Detailed Description

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

See also
CObservation::insertIntoPointsMap

Definition at line 219 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 601 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 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 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 695 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 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 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 736 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().

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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 620 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::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, 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.

References MRPT_UNUSED_PARAM.

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 37 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 608 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 236 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 239 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 243 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 247 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 255 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 260 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 251 of file CPointsMap.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::maps::CPointsMap::internal_insertObservation(), and mrpt::opengl::CPlanarLaserScan::render_dl().

◆ 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 258 of file CPointsMap.h.

◆ minDistBetweenLaserPoints




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