Detailed Description

With this struct options are provided to the likelihood computations.

#include <mrpt/slam/CLandmarksMap.h>

Inheritance diagram for mrpt::slam::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 ()
	Initilization of default parameters.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.
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.
virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &source, const std::string &section)
	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 &section)
	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
unsigned int	rangeScan2D_decimation
	The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation)
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.
float	beaconRangesStd
	The standard deviation used for Beacon ranges likelihood (default=0.08).
float	alphaRatio
	The ratio between gaussian and uniform distribution (default=1).
float	beaconMaxRange
	Maximun reliable beacon range value (default=20)
struct VISION_IMPEXP mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin	GPSOrigin
float	GPS_sigma
	A constant "sigma" for GPS localization data (in meters)
mrpt::vision::CFeatureExtraction::TOptions	SIFT_feat_options
	Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map.
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)

Constructor & Destructor Documentation

mrpt::slam::CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions ( )

Initilization of default parameters.

Member Function Documentation

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::CLandmarksMap::TLikelihoodOptions::dumpToTextStream ( CStream & out ) const [virtual]

See utils::CLoadableOptions.

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::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		`[virtual]`

See utils::CLoadableOptions.

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.

See also:: loadFromConfigFile

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.

See also:: loadFromConfigFile, saveToConfigFileName

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.

See also:: saveToConfigFile, loadFromConfigFileName

Member Data Documentation

float mrpt::slam::CLandmarksMap::TLikelihoodOptions::alphaRatio

The ratio between gaussian and uniform distribution (default=1).

Definition at line 343 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TLikelihoodOptions::beaconMaxRange

Maximun reliable beacon range value (default=20)

Definition at line 347 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TLikelihoodOptions::beaconRangesStd

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

Definition at line 339 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TLikelihoodOptions::GPS_sigma

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

Definition at line 387 of file CLandmarksMap.h.

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

unsigned int mrpt::slam::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 323 of file CLandmarksMap.h.

mrpt::vision::CFeatureExtraction::TOptions mrpt::slam::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 393 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTnullCorrespondenceDistance

Definition at line 331 of file CLandmarksMap.h.

int mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTs_decimation

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

Definition at line 335 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTs_mahaDist_std

Definition at line 329 of file CLandmarksMap.h.

double mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_descriptor_dist

Definition at line 327 of file CLandmarksMap.h.

double mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_euclidean_dist

Definition at line 325 of file CLandmarksMap.h.