Main MRPT website > C++ reference for MRPT 1.5.6
List of all members | Classes | Public Member Functions | Static Protected Member Functions
mrpt::maps::CLandmarksMap::TLikelihoodOptions Struct Reference

Detailed Description

With this struct options are provided to the likelihood computations.

Definition at line 265 of file maps/CLandmarksMap.h.

#include <mrpt/maps/CLandmarksMap.h>

Inheritance diagram for mrpt::maps::CLandmarksMap::TLikelihoodOptions:
Inheritance graph

Classes

struct  TGPSOrigin
 This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot. More...
 

Public Member Functions

 TLikelihoodOptions ()
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
 This method load the options from a ".ini"-like file or memory-stored string list. 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 &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::utils::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

Parameters for: 2D LIDAR scans
unsigned int rangeScan2D_decimation
 The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation) More...
 
Parameters for: images
double SIFTs_sigma_euclidean_dist
 
double SIFTs_sigma_descriptor_dist
 
float SIFTs_mahaDist_std
 
float SIFTnullCorrespondenceDistance
 
int SIFTs_decimation
 Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation. More...
 
mrpt::vision::CFeatureExtraction::TOptions SIFT_feat_options
 Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map. More...
 
Parameters for: Range-only observation
float beaconRangesStd
 The standard deviation used for Beacon ranges likelihood (default=0.08) [meters]. More...
 
bool beaconRangesUseObservationStd
 (Default: false) If true, beaconRangesStd is ignored and each individual CObservationBeaconRanges::stdError field is used instead. More...
 
Parameters for: External robot poses observation
float extRobotPoseStd
 The standard deviation used for external robot poses likelihood (default=0.05) [meters]. More...
 
Parameters for: GPS readings
struct VISION_IMPEXP
mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin 
GPSOrigin
 
float GPS_sigma
 A constant "sigma" for GPS localization data (in meters) 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)
 

Constructor & Destructor Documentation

CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions ( )

Definition at line 2149 of file CLandmarksMap.cpp.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void CLandmarksMap::TLikelihoodOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual
void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
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().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
void CLandmarksMap::TLikelihoodOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
virtual

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::utils::CLoadableOptions.

Definition at line 2211 of file CLandmarksMap.cpp.

References mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::altitude, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::ang, beaconRangesStd, beaconRangesUseObservationStd, extRobotPoseStd, GPS_sigma, GPSOrigin, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::latitude, mrpt::vision::CFeatureExtraction::TOptions::loadFromConfigFile(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::longitude, M_PI, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::min_sat, rangeScan2D_decimation, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), SIFT_feat_options, SIFTnullCorrespondenceDistance, SIFTs_decimation, SIFTs_mahaDist_std, SIFTs_sigma_descriptor_dist, SIFTs_sigma_euclidean_dist, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::x_shift, and mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::y_shift.

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 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

void CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtualinherited
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 39 of file CLoadableOptions.cpp.

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

Member Data Documentation

float mrpt::maps::CLandmarksMap::TLikelihoodOptions::beaconRangesStd

The standard deviation used for Beacon ranges likelihood (default=0.08) [meters].

See Also
beaconRangesUseObservationStd

Definition at line 293 of file maps/CLandmarksMap.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

bool mrpt::maps::CLandmarksMap::TLikelihoodOptions::beaconRangesUseObservationStd

(Default: false) If true, beaconRangesStd is ignored and each individual CObservationBeaconRanges::stdError field is used instead.

Definition at line 294 of file maps/CLandmarksMap.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::maps::CLandmarksMap::TLikelihoodOptions::extRobotPoseStd

The standard deviation used for external robot poses likelihood (default=0.05) [meters].

Definition at line 299 of file maps/CLandmarksMap.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::maps::CLandmarksMap::TLikelihoodOptions::GPS_sigma

A constant "sigma" for GPS localization data (in meters)

Definition at line 321 of file maps/CLandmarksMap.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

struct VISION_IMPEXP mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin mrpt::maps::CLandmarksMap::TLikelihoodOptions::GPSOrigin
unsigned int mrpt::maps::CLandmarksMap::TLikelihoodOptions::rangeScan2D_decimation

The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation)

Definition at line 275 of file maps/CLandmarksMap.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

mrpt::vision::CFeatureExtraction::TOptions mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFT_feat_options

Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map.

Note
There exists another SIFT_feat_options field in the insertionOptions member.
All parameters of this field can be loaded from a config file. See mrpt::vision::CFeatureExtraction::TOptions for the names of the expected fields.

Definition at line 288 of file maps/CLandmarksMap.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTnullCorrespondenceDistance
int mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_decimation

Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation.

Definition at line 284 of file maps/CLandmarksMap.h.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), dumpToTextStream(), and loadFromConfigFile().

float mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_mahaDist_std
double mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_descriptor_dist
double mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_euclidean_dist

Definition at line 280 of file maps/CLandmarksMap.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().




Page generated by Doxygen 1.8.6 for MRPT 1.5.6 Git: 4c65e84 Tue Apr 24 08:18:17 2018 +0200 at mar abr 24 08:26:17 CEST 2018