mrpt::maps::COccupancyGridMap3D::TInsertionOptions Class Reference

Detailed Description

With this struct options are provided to the observation insertion process.

See also

CObservation::insertIntoGridMap

Definition at line 195 of file COccupancyGridMap3D.h.

#include <mrpt/maps/COccupancyGridMap3D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap3D::TInsertionOptions:

Public Member Functions
	TInsertionOptions ()=default
void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) override
	This method load the options from a ".ini" file. More...
void	saveToConfigFile (mrpt::config::CConfigFileBase &target, const std::string &section) const override
	This method saves the options to a ".ini"-like file or memory-stored string list. 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...
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...
virtual void	dumpToTextStream (std::ostream &out) const
	This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More...

Public Attributes
float	maxDistanceInsertion {15.0f}
	Largest distance at which voxels are updated (Default: 15 meters) More...
float	maxOccupancyUpdateCertainty {0.65f}
	A value in the range [0.5,1] used for updating voxel with a Bayesian approach (default 0.65) More...
float	maxFreenessUpdateCertainty {.0f}
	A value in the range [0.5,1] for updating a free voxel. More...
uint16_t	decimation_3d_range {8}
	Specify the decimation of 3D range scans. More...
uint16_t	decimation {1}
	Decimation for insertPointCloud() or 2D range scans (Default: 1) 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)

Constructor & Destructor Documentation

TInsertionOptions()

mrpt::maps::COccupancyGridMap3D::TInsertionOptions::TInsertionOptions ( )

default

Member Function Documentation

dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 43 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), and mrpt::apps::CGridMapAlignerApp::run().

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dumpToTextStream()

void CLoadableOptions::dumpToTextStream ( std::ostream &  out ) const

virtualinherited

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 in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMatchingOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CPointsMap::TRenderOptions, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::vision::TStereoSystemParams, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::bayes::TKF_options, mrpt::graphslam::TSlidingWindow, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::maps::TMetricMapInitializer, mrpt::slam::CMetricMapBuilderICP::TConfigParams, and mrpt::slam::TKLDParams.

Definition at line 76 of file CLoadableOptions.cpp.

References mrpt::config::CConfigFileMemory::getContent(), out, and mrpt::config::CLoadableOptions::saveToConfigFile().

Referenced by mrpt::config::CLoadableOptions::dumpToConsole(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::maps::COccupancyGridMap3D::TMapDefinition::dumpToTextStream_map_specific(), and mrpt::apps::ICP_SLAM_App_Base::run().

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dumpVar_bool()

void CLoadableOptions::dumpVar_bool ( std::ostream &  out, const char *  varName, bool  v  )

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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dumpVar_double()

void CLoadableOptions::dumpVar_double ( std::ostream &  out, const char *  varName, double  v  )

staticprotectedinherited

Definition at line 56 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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dumpVar_float()

void CLoadableOptions::dumpVar_float ( std::ostream &  out, const char *  varName, float  v  )

staticprotectedinherited

Definition at line 50 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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dumpVar_int()

void CLoadableOptions::dumpVar_int ( std::ostream &  out, const char *  varName, int  v  )

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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dumpVar_string()

void CLoadableOptions::dumpVar_string ( std::ostream &  out, const char *  varName, const std::string &  v  )

staticprotectedinherited

Definition at line 69 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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loadFromConfigFile()

void COccupancyGridMap3D::TInsertionOptions::loadFromConfigFile ( const mrpt::config::CConfigFileBase &  source, const std::string &  section  )

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:

[section]
resolution=0.10     ; blah blah...
modeSelection=1     ; 0=blah, 1=blah,...

Implements mrpt::config::CLoadableOptions.

Definition at line 37 of file COccupancyGridMap3D_likelihood.cpp.

References decimation, iniFile(), maxDistanceInsertion, maxFreenessUpdateCertainty, maxOccupancyUpdateCertainty, and MRPT_LOAD_CONFIG_VAR.

Referenced by mrpt::maps::COccupancyGridMap3D::TMapDefinition::loadFromConfigFile_map_specific().

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loadFromConfigFileName()

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 22 of file CLoadableOptions.cpp.

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

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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saveToConfigFile()

void COccupancyGridMap3D::TInsertionOptions::saveToConfigFile ( mrpt::config::CConfigFileBase &  target, const std::string &  section  ) const

overridevirtual

This method saves the options to a ".ini"-like file or memory-stored string list.

See also

loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 46 of file COccupancyGridMap3D_likelihood.cpp.

References MRPT_SAVE_CONFIG_VAR_COMMENT.

saveToConfigFileName()

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 36 of file CLoadableOptions.cpp.

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

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Member Data Documentation

decimation

uint16_t mrpt::maps::COccupancyGridMap3D::TInsertionOptions::decimation {1}

Decimation for insertPointCloud() or 2D range scans (Default: 1)

Definition at line 235 of file COccupancyGridMap3D.h.

Referenced by mrpt::maps::COccupancyGridMap3D::insertPointCloud(), loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

decimation_3d_range

uint16_t mrpt::maps::COccupancyGridMap3D::TInsertionOptions::decimation_3d_range {8}

Specify the decimation of 3D range scans.

"N" means keeping the minimum range of each block of "NxN" range pixels. (default=8)

Definition at line 232 of file COccupancyGridMap3D.h.

Referenced by mrpt::maps::COccupancyGridMap3D::internal_insertObservationScan3D(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

maxDistanceInsertion

float mrpt::maps::COccupancyGridMap3D::TInsertionOptions::maxDistanceInsertion {15.0f}

Largest distance at which voxels are updated (Default: 15 meters)

Definition at line 220 of file COccupancyGridMap3D.h.

Referenced by loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

maxFreenessUpdateCertainty

float mrpt::maps::COccupancyGridMap3D::TInsertionOptions::maxFreenessUpdateCertainty {.0f}

A value in the range [0.5,1] for updating a free voxel.

(default=0 means use the same than maxOccupancyUpdateCertainty)

Definition at line 226 of file COccupancyGridMap3D.h.

Referenced by mrpt::maps::COccupancyGridMap3D::insertRay(), loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

maxOccupancyUpdateCertainty

float mrpt::maps::COccupancyGridMap3D::TInsertionOptions::maxOccupancyUpdateCertainty {0.65f}

A value in the range [0.5,1] used for updating voxel with a Bayesian approach (default 0.65)

Definition at line 223 of file COccupancyGridMap3D.h.

Referenced by mrpt::maps::COccupancyGridMap3D::insertRay(), loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().