MRPT
2.0.3
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With this struct options are provided to the observation insertion process.
Definition at line 195 of file COccupancyGridMap3D.h.
#include <mrpt/maps/COccupancyGridMap3D.h>
Public Member Functions | |
TInsertionOptions ()=default | |
void | loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string §ion) override |
This method load the options from a ".ini" file. More... | |
void | saveToConfigFile (mrpt::config::CConfigFileBase &target, const std::string §ion) 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 §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... | |
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... | |
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) |
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default |
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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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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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staticprotectedinherited |
Definition at line 62 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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staticprotectedinherited |
Definition at line 56 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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staticprotectedinherited |
Definition at line 50 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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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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staticprotectedinherited |
Definition at line 69 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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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 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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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().
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().
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overridevirtual |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented from mrpt::config::CLoadableOptions.
Definition at line 46 of file COccupancyGridMap3D_likelihood.cpp.
References MRPT_SAVE_CONFIG_VAR_COMMENT.
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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 36 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::saveToConfigFile().
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().
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().
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().
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().
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().
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