With this struct options are provided to the observation insertion process.
Definition at line 204 of file CPointsMap.h.
#include <mrpt/maps/CPointsMap.h>
Public Member Functions | |
TInsertionOptions () | |
Initilization of default parameters. More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) override |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const 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 §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::utils::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 | |
float | minDistBetweenLaserPoints |
The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. More... | |
bool | addToExistingPointsMap |
Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. 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. More... | |
bool | fuseWithExisting |
If set to true (default=false), inserted points are "fused" with previously existent ones. 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) |
CPointsMap::TInsertionOptions::TInsertionOptions | ( | ) |
Initilization of default parameters.
Definition at line 661 of file CPointsMap.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::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().
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overridevirtual |
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 738 of file CPointsMap.cpp.
References LOADABLEOPTS_DUMP_VAR, LOADABLEOPTS_DUMP_VAR_DEG, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 65 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 59 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 54 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
Definition at line 49 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 71 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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overridevirtual |
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:
Implements mrpt::utils::CLoadableOptions.
Definition at line 773 of file CPointsMap.cpp.
References MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_DEGREES.
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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::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 687 of file CPointsMap.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
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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::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, 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::utils::CLoadableOptions::dumpToTextStream(), and mrpt::utils::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::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 675 of file CPointsMap.cpp.
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 221 of file 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 224 of file 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 228 of file 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 232 of file 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 240 of file 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 245 of file 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).
Definition at line 236 of file CPointsMap.h.
Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::maps::CPointsMap::internal_insertObservation(), and mrpt::opengl::CPlanarLaserScan::render_dl().
float mrpt::maps::CPointsMap::TInsertionOptions::maxDistForInterpolatePoints |
The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true)
Definition at line 243 of file CPointsMap.h.
float mrpt::maps::CPointsMap::TInsertionOptions::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.
Definition at line 217 of file CPointsMap.h.
Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update(), mrpt::slam::CMetricMapBuilderICP::processObservation(), mrpt::opengl::CPlanarLaserScan::render_dl(), and run_rnav_test().
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