With this struct options are provided to the observation likelihood computation process.
#include <mrpt/slam/COccupancyGridMap2D.h>
Public Member Functions | |
| TLikelihoodOptions () | |
| Initilization of default parameters. | |
| void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
| This method load the options from a ".ini" file. | |
| void | dumpToTextStream (CStream &out) const |
| This method must display clearly all the contents of the structure in textual form, sending it to a CStream. | |
| 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. | |
| virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &source, const std::string §ion) |
| This method saves the options to a ".ini"-like file or memory-stored string list. | |
| void | saveToConfigFileName (const std::string &config_file, const std::string §ion) |
| Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. | |
| void | dumpToConsole () const |
| This method must display clearly all the contents of the structure in textual form, sending it to a CStream. | |
Public Attributes | |
| TLikelihoodMethod | likelihoodMethod |
| The selected method to compute an observation likelihood. | |
| float | LF_stdHit |
| [LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35 | |
| float | LF_zHit |
| [LikelihoodField] Ratios of the hit/random components of the likelihood; Default values=0.95/0.5 | |
| float | LF_zRandom |
| float | LF_maxRange |
| [LikelihoodField] The max. | |
| uint32_t | LF_decimation |
| [LikelihoodField] The decimation of the points in a scan, default=1 == no decimation. | |
| float | LF_maxCorrsDistance |
| [LikelihoodField] The max. | |
| bool | LF_alternateAverageMethod |
| [LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product". | |
| float | MI_exponent |
| [MI] The exponent in the MI likelihood computation. | |
| uint32_t | MI_skip_rays |
| [MI] The scan rays decimation: at every N rays, one will be used to compute the MI: | |
| float | MI_ratio_max_distance |
| [MI] The ratio for the max. | |
| bool | rayTracing_useDistanceFilter |
| [rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones. | |
| int32_t | rayTracing_decimation |
| [rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges. | |
| float | rayTracing_stdHit |
| [rayTracing] The laser range sigma. | |
| int32_t | consensus_takeEachRange |
| [Consensus] The down-sample ratio of ranges (default=1, consider all the ranges) | |
| float | consensus_pow |
| [Consensus] The power factor for the likelihood (default=5) | |
| std::vector< float > | OWA_weights |
| [OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse. | |
| bool | enableLikelihoodCache |
| Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false). | |
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. | |
| 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) |
| mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::TLikelihoodOptions | ( | ) |
Initilization of default parameters.
| void mrpt::utils::CLoadableOptions::dumpToConsole | ( | ) | const [inherited] |
This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
| void mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::dumpToTextStream | ( | CStream & | out | ) | const [virtual] |
This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
Implements mrpt::utils::CLoadableOptions.
| static void mrpt::utils::CLoadableOptions::dumpVar_bool | ( | CStream & | out, |
| const char * | varName, | ||
| bool | v | ||
| ) | [static, protected, inherited] |
| static void mrpt::utils::CLoadableOptions::dumpVar_double | ( | CStream & | out, |
| const char * | varName, | ||
| double | v | ||
| ) | [static, protected, inherited] |
| static void mrpt::utils::CLoadableOptions::dumpVar_float | ( | CStream & | out, |
| const char * | varName, | ||
| float | v | ||
| ) | [static, protected, inherited] |
| static void mrpt::utils::CLoadableOptions::dumpVar_int | ( | CStream & | out, |
| const char * | varName, | ||
| int | v | ||
| ) | [static, protected, inherited] |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
| static void mrpt::utils::CLoadableOptions::dumpVar_string | ( | CStream & | out, |
| const char * | varName, | ||
| const std::string & | v | ||
| ) | [static, protected, inherited] |
| void mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
| const std::string & | section | ||
| ) | [virtual] |
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:
[section]
resolution=0.10 ; blah blah...
modeSelection=1 ; 0=blah, 1=blah,...
Implements mrpt::utils::CLoadableOptions.
| void mrpt::utils::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.
| virtual void mrpt::utils::CLoadableOptions::saveToConfigFile | ( | mrpt::utils::CConfigFileBase & | source, |
| const std::string & | section | ||
| ) | [inline, virtual, inherited] |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, and mrpt::vision::TMultiResDescMatchOptions.
Definition at line 87 of file CLoadableOptions.h.
References THROW_EXCEPTION.
| void mrpt::utils::CLoadableOptions::saveToConfigFileName | ( | const std::string & | config_file, |
| const std::string & | section | ||
| ) | [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.
[Consensus] The power factor for the likelihood (default=5)
Definition at line 681 of file COccupancyGridMap2D.h.
[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges)
Definition at line 677 of file COccupancyGridMap2D.h.
Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false).
Definition at line 689 of file COccupancyGridMap2D.h.
[LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product".
Definition at line 649 of file COccupancyGridMap2D.h.
[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation.
Definition at line 641 of file COccupancyGridMap2D.h.
[LikelihoodField] The max.
distance for searching correspondences around each sensed point
Definition at line 645 of file COccupancyGridMap2D.h.
[LikelihoodField] The max.
range of the sensor (def=81meters)
Definition at line 637 of file COccupancyGridMap2D.h.
[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35
Definition at line 629 of file COccupancyGridMap2D.h.
[LikelihoodField] Ratios of the hit/random components of the likelihood; Default values=0.95/0.5
Definition at line 633 of file COccupancyGridMap2D.h.
Definition at line 633 of file COccupancyGridMap2D.h.
The selected method to compute an observation likelihood.
Definition at line 625 of file COccupancyGridMap2D.h.
[MI] The exponent in the MI likelihood computation.
Default value = 5
Definition at line 653 of file COccupancyGridMap2D.h.
[MI] The ratio for the max.
distance used in the MI computation and in the insertion of scans, e.g. if set to 2.0 the MI will use twice the distance that the update distance.
Definition at line 661 of file COccupancyGridMap2D.h.
[MI] The scan rays decimation: at every N rays, one will be used to compute the MI:
Definition at line 657 of file COccupancyGridMap2D.h.
[OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse.
Definition at line 685 of file COccupancyGridMap2D.h.
[rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges.
Definition at line 669 of file COccupancyGridMap2D.h.
[rayTracing] The laser range sigma.
Definition at line 673 of file COccupancyGridMap2D.h.
[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones.
Definition at line 665 of file COccupancyGridMap2D.h.
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