MRPT
1.9.9
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With this struct options are provided to the observation likelihood computation process.
Definition at line 540 of file COccupancyGridMap2D.h.
#include <mrpt/maps/COccupancyGridMap2D.h>
Public Member Functions | |
TLikelihoodOptions () | |
Initilization of default parameters. More... | |
void | loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string §ion) override |
This method load the options from a ".ini" file. 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 | 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::config::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 {lmLikelihoodField_Thrun} |
The selected method to compute an observation likelihood. More... | |
float | LF_stdHit {0.35f} |
[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35 More... | |
float | LF_zHit {0.95f} |
[LikelihoodField] More... | |
float | LF_zRandom {0.05f} |
float | LF_maxRange {81.0f} |
[LikelihoodField] The max. More... | |
uint32_t | LF_decimation {5} |
[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation More... | |
float | LF_maxCorrsDistance {0.3f} |
[LikelihoodField] The max. More... | |
bool | LF_useSquareDist {false} |
[LikelihoodField] (Default:false) Use exp(dist^2/std^2) instead of exp(dist^2/std^2) More... | |
bool | LF_alternateAverageMethod {false} |
[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 {2.5f} |
[MI] The exponent in the MI likelihood computation. More... | |
uint32_t | MI_skip_rays {10} |
[MI] The scan rays decimation: at every N rays, one will be used to compute the MI More... | |
float | MI_ratio_max_distance {1.5f} |
[MI] The ratio for the max. More... | |
bool | rayTracing_useDistanceFilter {true} |
[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones. More... | |
int32_t | rayTracing_decimation {10} |
[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 {1.0f} |
[rayTracing] The laser range sigma. More... | |
int32_t | consensus_takeEachRange {1} |
[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges) More... | |
float | consensus_pow {5} |
[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 {true} |
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 (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) |
COccupancyGridMap2D::TLikelihoodOptions::TLikelihoodOptions | ( | ) |
Initilization of default parameters.
Definition at line 814 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 44 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::dumpToTextStream().
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().
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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 864 of file COccupancyGridMap2D_likelihood.cpp.
References mrpt::format(), 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, and mrpt::maps::COccupancyGridMap2D::lmRayTracing.
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staticprotectedinherited |
Definition at line 63 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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staticprotectedinherited |
Definition at line 57 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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staticprotectedinherited |
Definition at line 51 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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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(), and LOADABLEOPTS_COLUMN_WIDTH.
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staticprotectedinherited |
Definition at line 70 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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overridevirtual |
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::config::CLoadableOptions.
Definition at line 823 of file COccupancyGridMap2D_likelihood.cpp.
References iniFile().
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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 22 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::loadFromConfigFile().
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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::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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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 37 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::saveToConfigFile().
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_pow {5} |
[Consensus] The power factor for the likelihood (default=5)
Definition at line 608 of file COccupancyGridMap2D.h.
int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_takeEachRange {1} |
[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges)
Definition at line 606 of file COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::enableLikelihoodCache {true} |
Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false).
Definition at line 617 of file COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_alternateAverageMethod {false} |
[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 584 of file COccupancyGridMap2D.h.
uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_decimation {5} |
[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation
Definition at line 574 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxCorrsDistance {0.3f} |
[LikelihoodField] The max.
distance for searching correspondences around each sensed point
Definition at line 577 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxRange {81.0f} |
[LikelihoodField] The max.
range of the sensor (Default= 81 m)
Definition at line 571 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_stdHit {0.35f} |
[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35
Definition at line 567 of file COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_useSquareDist {false} |
[LikelihoodField] (Default:false) Use exp(dist^2/std^2)
instead of exp(dist^2/std^2)
Definition at line 580 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zHit {0.95f} |
[LikelihoodField]
Definition at line 569 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zRandom {0.05f} |
Definition at line 569 of file COccupancyGridMap2D.h.
TLikelihoodMethod mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::likelihoodMethod {lmLikelihoodField_Thrun} |
The selected method to compute an observation likelihood.
Definition at line 564 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_exponent {2.5f} |
[MI] The exponent in the MI likelihood computation.
Default value = 5
Definition at line 587 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_ratio_max_distance {1.5f} |
[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 594 of file COccupancyGridMap2D.h.
uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_skip_rays {10} |
[MI] The scan rays decimation: at every N rays, one will be used to compute the MI
Definition at line 590 of file 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 613 of file COccupancyGridMap2D.h.
int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_decimation {10} |
[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 601 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_stdHit {1.0f} |
[rayTracing] The laser range sigma.
Definition at line 603 of file COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_useDistanceFilter {true} |
[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones.
Definition at line 597 of file COccupancyGridMap2D.h.
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