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mrpt::maps::CLandmarksMap::TLikelihoodOptions Struct Reference

Detailed Description

With this struct options are provided to the likelihood computations.

Definition at line 265 of file maps/CLandmarksMap.h.

#include <mrpt/maps/CLandmarksMap.h>

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

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::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream. 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::utils::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 VISION_IMPEXP 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 (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)
 

Constructor & Destructor Documentation

◆ TLikelihoodOptions()

mrpt::maps::CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions ( )

Member Function Documentation

◆ dumpToConsole()

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const
inherited

◆ dumpToTextStream()

void mrpt::maps::CLandmarksMap::TLikelihoodOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual

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.

◆ dumpVar_bool()

static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited

◆ dumpVar_double()

static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited

◆ dumpVar_float()

static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited

◆ dumpVar_int()

static void mrpt::utils::CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

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

◆ dumpVar_string()

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited

◆ loadFromConfigFile()

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

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::utils::CLoadableOptions.

◆ loadFromConfigFileName()

void mrpt::utils::CLoadableOptions::loadFromConfigFileName ( const std::string &  config_file,
const std::string &  section 
)
inherited

◆ saveToConfigFile()

virtual void mrpt::utils::CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string &  section 
) const
virtualinherited

◆ saveToConfigFileName()

void mrpt::utils::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

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 293 of file maps/CLandmarksMap.h.

◆ 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 294 of file maps/CLandmarksMap.h.

◆ extRobotPoseStd

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

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

Definition at line 299 of file maps/CLandmarksMap.h.

◆ GPS_sigma

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

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

Definition at line 321 of file maps/CLandmarksMap.h.

◆ GPSOrigin

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

◆ 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 275 of file maps/CLandmarksMap.h.

◆ 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 288 of file maps/CLandmarksMap.h.

◆ SIFTnullCorrespondenceDistance

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

Definition at line 283 of file maps/CLandmarksMap.h.

◆ 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 284 of file maps/CLandmarksMap.h.

◆ SIFTs_mahaDist_std

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

Definition at line 282 of file maps/CLandmarksMap.h.

◆ SIFTs_sigma_descriptor_dist

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

Definition at line 281 of file maps/CLandmarksMap.h.

◆ SIFTs_sigma_euclidean_dist

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

Definition at line 280 of file maps/CLandmarksMap.h.




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