struct mrpt::maps::CLandmarksMap::TLikelihoodOptions¶

With this struct options are provided to the likelihood computations.

#include <mrpt/maps/CLandmarksMap.h>

struct TLikelihoodOptions: public mrpt::config::CLoadableOptions
{
    // structs

    struct TGPSOrigin;

    //
fields

    unsigned int rangeScan2D_decimation {20};
    double SIFTs_sigma_euclidean_dist {0.30f};
    double SIFTs_sigma_descriptor_dist {100.0f};
    float SIFTs_mahaDist_std {4.0f};
    float SIFTnullCorrespondenceDistance {4.0f};
    int SIFTs_decimation {1};
    mrpt::vision::CFeatureExtraction::TOptions SIFT_feat_options;
    float beaconRangesStd {0.08f};
    bool beaconRangesUseObservationStd {false};
    float extRobotPoseStd {0.05f};
    struct mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin GPSOrigin;
    float GPS_sigma {1.0f};

    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void dumpToTextStream(std::ostream& out) const;
};

Inherited Members¶

public:
    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields¶

unsigned int rangeScan2D_decimation {20}

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

int SIFTs_decimation {1}

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

mrpt::vision::CFeatureExtraction::TOptions SIFT_feat_options

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

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.

float beaconRangesStd {0.08f}

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

Methods¶

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

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,...