With this struct options are provided to the observation likelihood computation process.
Definition at line 566 of file maps/COccupancyGridMap2D.h.
#include <mrpt/maps/COccupancyGridMap2D.h>
Public Member Functions | |
TLikelihoodOptions () | |
Initilization of default parameters. More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
This method load the options from a ".ini" file. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const |
This method must display clearly 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 §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 | |
TLikelihoodMethod | likelihoodMethod |
The selected method to compute an observation likelihood. More... | |
float | LF_stdHit |
[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35 More... | |
float | LF_zHit |
[LikelihoodField] Ratios of the hit/random components of the likelihood; Default values=0.95/0.5 More... | |
float | LF_zRandom |
float | LF_maxRange |
[LikelihoodField] The max. More... | |
uint32_t | LF_decimation |
[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation. More... | |
float | LF_maxCorrsDistance |
[LikelihoodField] The max. More... | |
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". More... | |
float | MI_exponent |
[MI] The exponent in the MI likelihood computation. More... | |
uint32_t | MI_skip_rays |
[MI] The scan rays decimation: at every N rays, one will be used to compute the MI: More... | |
float | MI_ratio_max_distance |
[MI] The ratio for the max. More... | |
bool | rayTracing_useDistanceFilter |
[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones. More... | |
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. More... | |
float | rayTracing_stdHit |
[rayTracing] The laser range sigma. More... | |
int32_t | consensus_takeEachRange |
[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges) More... | |
float | consensus_pow |
[Consensus] The power factor for the likelihood (default=5) More... | |
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. More... | |
bool | enableLikelihoodCache |
Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false). 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) |
mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::TLikelihoodOptions | ( | ) |
Initilization of default parameters.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
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virtual |
This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
Reimplemented from mrpt::utils::CLoadableOptions.
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staticprotectedinherited |
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staticprotectedinherited |
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staticprotectedinherited |
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
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staticprotectedinherited |
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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:
Implements mrpt::utils::CLoadableOptions.
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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.
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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::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.
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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.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_pow |
[Consensus] The power factor for the likelihood (default=5)
Definition at line 650 of file maps/COccupancyGridMap2D.h.
int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_takeEachRange |
[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges)
Definition at line 646 of file maps/COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::enableLikelihoodCache |
Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false).
Definition at line 658 of file maps/COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::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".
Definition at line 618 of file maps/COccupancyGridMap2D.h.
uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_decimation |
[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation.
Definition at line 610 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxCorrsDistance |
[LikelihoodField] The max.
distance for searching correspondences around each sensed point
Definition at line 614 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxRange |
[LikelihoodField] The max.
range of the sensor (def=81meters)
Definition at line 606 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_stdHit |
[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35
Definition at line 598 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zHit |
[LikelihoodField] Ratios of the hit/random components of the likelihood; Default values=0.95/0.5
Definition at line 602 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zRandom |
Definition at line 602 of file maps/COccupancyGridMap2D.h.
TLikelihoodMethod mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::likelihoodMethod |
The selected method to compute an observation likelihood.
Definition at line 594 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_exponent |
[MI] The exponent in the MI likelihood computation.
Default value = 5
Definition at line 622 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_ratio_max_distance |
[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 630 of file maps/COccupancyGridMap2D.h.
uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_skip_rays |
[MI] The scan rays decimation: at every N rays, one will be used to compute the MI:
Definition at line 626 of file maps/COccupancyGridMap2D.h.
std::vector<float> mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::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.
Definition at line 654 of file maps/COccupancyGridMap2D.h.
int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_decimation |
[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 638 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_stdHit |
[rayTracing] The laser range sigma.
Definition at line 642 of file maps/COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_useDistanceFilter |
[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones.
Definition at line 634 of file maps/COccupancyGridMap2D.h.
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