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CObservation2DRangeScanWithUncertainty.h
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9 #ifndef CObservation2DRangeScanWithUncertainty_H
10 #define CObservation2DRangeScanWithUncertainty_H
11 
13 #include <vector>
14 
15 namespace mrpt
16 {
17 namespace obs
18 {
19  /** A 2D range scan plus an uncertainty model for each range.
20  * \sa mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty()
21  */
23  {
24  public:
25  CObservation2DRangeScan rangeScan; //!< The observation with the mean ranges in the scan field
26  Eigen::VectorXd rangesMean; //!< The same ranges than in rangeScan.scan[], for convenience as an Eigen container, and with `double` precision
27  Eigen::MatrixXd rangesCovar; //!< The covariance matrix for all the ranges in rangeScan.scan[]
28 
30  {
31  double prob_outliers; //!< (Default: 0.5) Probability of having an outlier (dynamic obstacles, not mapped) in each scan ray.
32  double prob_lost_ray; //!< (Default: 0.3) Conditional probability: how many of the "no return" ranges come from a failure to detect a real obstacle.
33  double max_prediction_std_dev; //!< (Default: 1.0m) Maximum std deviation of overall uncertainty for a range prediction to be considered as reliable for evaluation
34  double min_ray_log_lik; //!< (Default: -20) Minimum log-likelihood of a single ray
35 
36  TEvalParams();
37  };
38 
39  /** Returns a measure of the likelihood of a given scan, compared to this scan variances */
40  double evaluateScanLikelihood(const CObservation2DRangeScan& otherScan, const TEvalParams &params) const;
41  };
42 
43 } // End of namespace
44 } // End of namespace
45 #endif
A 2D range scan plus an uncertainty model for each range.
Eigen::VectorXd rangesMean
The same ranges than in rangeScan.scan[], for convenience as an Eigen container, and with double prec...
double prob_lost_ray
(Default: 0.3) Conditional probability: how many of the "no return" ranges come from a failure to det...
CObservation2DRangeScan rangeScan
The observation with the mean ranges in the scan field.
double prob_outliers
(Default: 0.5) Probability of having an outlier (dynamic obstacles, not mapped) in each scan ray...
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
double max_prediction_std_dev
(Default: 1.0m) Maximum std deviation of overall uncertainty for a range prediction to be considered ...
Eigen::MatrixXd rangesCovar
The covariance matrix for all the ranges in rangeScan.scan[].
GLfloat * params
Definition: glew.h:1436
double min_ray_log_lik
(Default: -20) Minimum log-likelihood of a single ray



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