With this struct options are provided to the observation likelihood computation process.
Definition at line 391 of file maps/COccupancyGridMap2D.h.
#include <mrpt/maps/COccupancyGridMap2D.h>
Public Member Functions | |
TLikelihoodOptions () | |
Initilization of default parameters. More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE |
This method load the options from a ".ini" file. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const MRPT_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 | |
TLikelihoodMethod | likelihoodMethod |
The selected method to compute an observation likelihood. More... | |
float | LF_stdHit |
[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35 More... | |
float | LF_zHit |
float | LF_zRandom |
[LikelihoodField] More... | |
float | LF_maxRange |
[LikelihoodField] The max. range of the sensor (Default= 81 m) More... | |
uint32_t | LF_decimation |
[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation More... | |
float | LF_maxCorrsDistance |
[LikelihoodField] The max. distance for searching correspondences around each sensed point More... | |
bool | LF_useSquareDist |
[LikelihoodField] (Default:false) Use exp(dist^2/std^2) instead of exp(dist^2/std^2) More... | |
bool | LF_alternateAverageMethod |
[LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product". More... | |
float | MI_exponent |
[MI] The exponent in the MI likelihood computation. Default value = 5 More... | |
uint32_t | MI_skip_rays |
[MI] The scan rays decimation: at every N rays, one will be used to compute the MI More... | |
float | MI_ratio_max_distance |
[MI] The ratio for the max. distance used in the MI computation and in the insertion of scans, e.g. if set to 2.0 the MI will use twice the distance that the update distance. More... | |
bool | rayTracing_useDistanceFilter |
[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones. More... | |
int32_t | rayTracing_decimation |
[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 |
[rayTracing] The laser range sigma. More... | |
int32_t | consensus_takeEachRange |
[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges) More... | |
float | consensus_pow |
[Consensus] The power factor for the likelihood (default=5) More... | |
std::vector< float > | OWA_weights |
[OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse. More... | |
bool | enableLikelihoodCache |
Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false). 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) |
COccupancyGridMap2D::TLikelihoodOptions::TLikelihoodOptions | ( | ) |
Initilization of default parameters.
Definition at line 780 of file COccupancyGridMap2D_likelihood.cpp.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
Definition at line 47 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CHMTSLAM::loadOptions(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().
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virtual |
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 844 of file COccupancyGridMap2D_likelihood.cpp.
References mrpt::maps::COccupancyGridMap2D::lmCellsDifference, mrpt::maps::COccupancyGridMap2D::lmConsensus, mrpt::maps::COccupancyGridMap2D::lmConsensusOWA, mrpt::maps::COccupancyGridMap2D::lmLikelihoodField_II, mrpt::maps::COccupancyGridMap2D::lmLikelihoodField_Thrun, mrpt::maps::COccupancyGridMap2D::lmMeanInformation, mrpt::maps::COccupancyGridMap2D::lmRayTracing, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 67 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 62 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 57 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 52 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 72 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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virtual |
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:
Implements mrpt::utils::CLoadableOptions.
Definition at line 811 of file COccupancyGridMap2D_likelihood.cpp.
References MRPT_LOAD_CONFIG_VAR_CAST, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_vector().
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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 23 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::CHolonomicND::TOptions, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicVFF::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, 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 31 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 39 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::saveToConfigFile().
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_pow |
[Consensus] The power factor for the likelihood (default=5)
Definition at line 425 of file maps/COccupancyGridMap2D.h.
int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_takeEachRange |
[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges)
Definition at line 424 of file maps/COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::enableLikelihoodCache |
Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false).
Definition at line 428 of file maps/COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_alternateAverageMethod |
[LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product".
Definition at line 417 of file maps/COccupancyGridMap2D.h.
uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_decimation |
[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation
Definition at line 414 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxCorrsDistance |
[LikelihoodField] The max. distance for searching correspondences around each sensed point
Definition at line 415 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxRange |
[LikelihoodField] The max. range of the sensor (Default= 81 m)
Definition at line 413 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_stdHit |
[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35
Definition at line 411 of file maps/COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_useSquareDist |
[LikelihoodField] (Default:false) Use exp(dist^2/std^2)
instead of exp(dist^2/std^2)
Definition at line 416 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zHit |
Definition at line 412 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zRandom |
[LikelihoodField]
Definition at line 412 of file maps/COccupancyGridMap2D.h.
TLikelihoodMethod mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::likelihoodMethod |
The selected method to compute an observation likelihood.
Definition at line 410 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_exponent |
[MI] The exponent in the MI likelihood computation. Default value = 5
Definition at line 418 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_ratio_max_distance |
[MI] The ratio for the max. distance used in the MI computation and in the insertion of scans, e.g. if set to 2.0 the MI will use twice the distance that the update distance.
Definition at line 420 of file maps/COccupancyGridMap2D.h.
uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_skip_rays |
[MI] The scan rays decimation: at every N rays, one will be used to compute the MI
Definition at line 419 of file maps/COccupancyGridMap2D.h.
std::vector<float> mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::OWA_weights |
[OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse.
Definition at line 426 of file maps/COccupancyGridMap2D.h.
int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_decimation |
[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 422 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_stdHit |
[rayTracing] The laser range sigma.
Definition at line 423 of file maps/COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_useDistanceFilter |
[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones.
Definition at line 421 of file maps/COccupancyGridMap2D.h.
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