Main MRPT website > C++ reference for MRPT 1.5.6
List of all members | Public Member Functions | Public Attributes | Static Protected Member Functions
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 165 of file maps/CPointsMap.h.

#include <mrpt/maps/CPointsMap.h>

Inheritance diagram for mrpt::maps::CPointsMap::TInsertionOptions:
Inheritance graph

Public Member Functions

 TInsertionOptions ()
 Initilization of default parameters. More...
 
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 writeToStream (mrpt::utils::CStream &out) const
 Binary dump to stream - for usage in derived classes' serialization. More...
 
void readFromStream (mrpt::utils::CStream &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::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

float minDistBetweenLaserPoints
 The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. Default is 0.02 meters. More...
 
bool addToExistingPointsMap
 Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. Default is false. More...
 
bool also_interpolate
 If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false). More...
 
bool disableDeletion
 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. More...
 
bool fuseWithExisting
 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. More...
 
bool isPlanarMap
 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
 The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true) More...
 
bool insertInvalidPoints
 Points with x,y,z coordinates set to zero will also be inserted. 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

CPointsMap::TInsertionOptions::TInsertionOptions ( )

Initilization of default parameters.

Definition at line 611 of file CPointsMap.cpp.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void CPointsMap::TInsertionOptions::dumpToTextStream ( mrpt::utils::CStream out) const
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 689 of file CPointsMap.cpp.

References LOADABLEOPTS_DUMP_VAR, LOADABLEOPTS_DUMP_VAR_DEG, and mrpt::utils::CStream::printf().

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 CPointsMap::TInsertionOptions::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 720 of file CPointsMap.cpp.

References MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_DEGREES.

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 CPointsMap::TInsertionOptions::readFromStream ( mrpt::utils::CStream in)

Binary dump to stream - for usage in derived classes' serialization.

Definition at line 636 of file CPointsMap.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

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().

void CPointsMap::TInsertionOptions::writeToStream ( mrpt::utils::CStream out) const

Binary dump to stream - for usage in derived classes' serialization.

Definition at line 625 of file CPointsMap.cpp.

References version.

Member Data Documentation

bool mrpt::maps::CPointsMap::TInsertionOptions::addToExistingPointsMap

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 173 of file maps/CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::internal_insertObservation(), and mrpt::maps::CPointsMap::loadFromVelodyneScan().

bool mrpt::maps::CPointsMap::TInsertionOptions::also_interpolate

If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false).

Definition at line 174 of file maps/CPointsMap.h.

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

bool mrpt::maps::CPointsMap::TInsertionOptions::disableDeletion

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 175 of file maps/CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::internal_insertObservation().

bool mrpt::maps::CPointsMap::TInsertionOptions::fuseWithExisting

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 176 of file maps/CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::internal_insertObservation().

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 178 of file maps/CPointsMap.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), and mrpt::maps::CPointsMap::internal_insertObservation().

bool mrpt::maps::CPointsMap::TInsertionOptions::insertInvalidPoints

Points with x,y,z coordinates set to zero will also be inserted.

Definition at line 180 of file maps/CPointsMap.h.

bool mrpt::maps::CPointsMap::TInsertionOptions::isPlanarMap

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 177 of file maps/CPointsMap.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), and mrpt::maps::CPointsMap::internal_insertObservation().

float mrpt::maps::CPointsMap::TInsertionOptions::maxDistForInterpolatePoints

The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true)

Definition at line 179 of file maps/CPointsMap.h.

float mrpt::maps::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints



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