Detailed Description

With this struct options are provided to the likelihood computations.

Definition at line 349 of file CLandmarksMap.h.

#include <mrpt/maps/CLandmarksMap.h>

Inheritance diagram for mrpt::maps::CLandmarksMap::TLikelihoodOptions:

Classes
struct	TGPSOrigin
	This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot. More...

Public Member Functions
	TLikelihoodOptions ()

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) override
	This method load the options from a ".ini"-like file or memory-stored string list. 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 &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...

virtual void	saveToConfigFile (mrpt::config::CConfigFileBase &target, const std::string &section) 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 &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...

Public Attributes
Parameters for: 2D LIDAR scans
unsigned int	rangeScan2D_decimation
	The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation) More...

Parameters for: images
double	SIFTs_sigma_euclidean_dist

double	SIFTs_sigma_descriptor_dist

float	SIFTs_mahaDist_std

float	SIFTnullCorrespondenceDistance

int	SIFTs_decimation
	Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation. More...

mrpt::vision::CFeatureExtraction::TOptions	SIFT_feat_options
	Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map. More...

Parameters for: Range-only observation
float	beaconRangesStd
	The standard deviation used for Beacon ranges likelihood (default=0.08) [meters]. More...

bool	beaconRangesUseObservationStd
	(Default: false) If true, `beaconRangesStd` is ignored and each individual `CObservationBeaconRanges::stdError` field is used instead. More...

Parameters for: External robot poses observation
float	extRobotPoseStd
	The standard deviation used for external robot poses likelihood (default=0.05) [meters]. More...

Parameters for: GPS readings
struct mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin	GPSOrigin

float	GPS_sigma
	A constant "sigma" for GPS localization data (in meters) 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

◆ TLikelihoodOptions()

CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions ( )

Definition at line 2350 of file CLandmarksMap.cpp.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

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().

◆ dumpToTextStream()

void CLandmarksMap::TLikelihoodOptions::dumpToTextStream ( std::ostream & out ) const

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 2380 of file CLandmarksMap.cpp.

References mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::altitude, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::ang, beaconRangesStd, beaconRangesUseObservationStd, mrpt::vision::CFeatureExtraction::TOptions::dumpToTextStream(), extRobotPoseStd, mrpt::format(), GPS_sigma, GPSOrigin, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::latitude, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::longitude, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::min_sat, rangeScan2D_decimation, SIFT_feat_options, SIFTnullCorrespondenceDistance, SIFTs_decimation, SIFTs_mahaDist_std, SIFTs_sigma_descriptor_dist, SIFTs_sigma_euclidean_dist, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::x_shift, and mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::y_shift.

◆ dumpVar_bool()

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

staticprotectedinherited

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_double()

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

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_float()

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

staticprotectedinherited

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ 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 45 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_string()

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

staticprotectedinherited

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ loadFromConfigFile()

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

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:

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

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 2436 of file CLandmarksMap.cpp.

References mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::altitude, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::ang, beaconRangesStd, beaconRangesUseObservationStd, extRobotPoseStd, GPS_sigma, GPSOrigin, iniFile(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::latitude, mrpt::vision::CFeatureExtraction::TOptions::loadFromConfigFile(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::longitude, M_PI, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::min_sat, rangeScan2D_decimation, SIFT_feat_options, SIFTnullCorrespondenceDistance, SIFTs_decimation, SIFTs_mahaDist_std, SIFTs_sigma_descriptor_dist, SIFTs_sigma_euclidean_dist, mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::x_shift, and mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin::y_shift.

◆ 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().

◆ saveToConfigFile()

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

virtualinherited

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

See also: loadFromConfigFile, saveToConfigFileName

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::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::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().

◆ 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 37 of file CLoadableOptions.cpp.

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

Member Data Documentation

◆ beaconRangesStd

float mrpt::maps::CLandmarksMap::TLikelihoodOptions::beaconRangesStd

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

See also: beaconRangesUseObservationStd

Definition at line 390 of file CLandmarksMap.h.

Referenced by dumpToTextStream(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), and loadFromConfigFile().

◆ beaconRangesUseObservationStd

bool mrpt::maps::CLandmarksMap::TLikelihoodOptions::beaconRangesUseObservationStd

(Default: false) If true, beaconRangesStd is ignored and each individual CObservationBeaconRanges::stdError field is used instead.

Definition at line 394 of file CLandmarksMap.h.

Referenced by dumpToTextStream(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), and loadFromConfigFile().

◆ extRobotPoseStd

float mrpt::maps::CLandmarksMap::TLikelihoodOptions::extRobotPoseStd

The standard deviation used for external robot poses likelihood (default=0.05) [meters].

Definition at line 401 of file CLandmarksMap.h.

Referenced by dumpToTextStream(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), and loadFromConfigFile().

◆ GPS_sigma

float mrpt::maps::CLandmarksMap::TLikelihoodOptions::GPS_sigma

A constant "sigma" for GPS localization data (in meters)

Definition at line 430 of file CLandmarksMap.h.

Referenced by dumpToTextStream(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), and loadFromConfigFile().

◆ GPSOrigin

struct mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin mrpt::maps::CLandmarksMap::TLikelihoodOptions::GPSOrigin

Referenced by dumpToTextStream(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), and loadFromConfigFile().

◆ rangeScan2D_decimation

unsigned int mrpt::maps::CLandmarksMap::TLikelihoodOptions::rangeScan2D_decimation

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

Definition at line 364 of file CLandmarksMap.h.

Referenced by dumpToTextStream(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), and loadFromConfigFile().

◆ SIFT_feat_options

mrpt::vision::CFeatureExtraction::TOptions mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFT_feat_options

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

Note: 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.

Definition at line 383 of file CLandmarksMap.h.

Referenced by dumpToTextStream(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), and loadFromConfigFile().

◆ SIFTnullCorrespondenceDistance

float mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTnullCorrespondenceDistance

Definition at line 372 of file CLandmarksMap.h.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), dumpToTextStream(), and loadFromConfigFile().

◆ SIFTs_decimation

int mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_decimation

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

Definition at line 375 of file CLandmarksMap.h.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), dumpToTextStream(), and loadFromConfigFile().

◆ SIFTs_mahaDist_std

float mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_mahaDist_std

Definition at line 371 of file CLandmarksMap.h.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), dumpToTextStream(), and loadFromConfigFile().

◆ SIFTs_sigma_descriptor_dist

double mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_descriptor_dist

Definition at line 370 of file CLandmarksMap.h.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), dumpToTextStream(), and loadFromConfigFile().

◆ SIFTs_sigma_euclidean_dist

double mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_euclidean_dist

Definition at line 369 of file CLandmarksMap.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

Detailed Description

Classes

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TLikelihoodOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ beaconRangesStd

◆ beaconRangesUseObservationStd

◆ extRobotPoseStd

◆ GPS_sigma

◆ GPSOrigin

◆ rangeScan2D_decimation

◆ SIFT_feat_options

◆ SIFTnullCorrespondenceDistance

◆ SIFTs_decimation

◆ SIFTs_mahaDist_std

◆ SIFTs_sigma_descriptor_dist

◆ SIFTs_sigma_euclidean_dist