With this struct options are provided to the likelihood computations.
Definition at line 265 of file maps/CLandmarksMap.h.
#include <mrpt/maps/CLandmarksMap.h>
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 §ion) 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 §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 | |
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: 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) |
mrpt::maps::CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions | ( | ) |
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
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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.
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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"-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:
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::nav::CHolonomicND::TOptions, mrpt::nav::CHolonomicVFF::TOptions, mrpt::vision::TMultiResDescMatchOptions, and mrpt::vision::TMultiResDescOptions.
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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::CLandmarksMap::TLikelihoodOptions::beaconRangesStd |
The standard deviation used for Beacon ranges likelihood (default=0.08) [meters].
Definition at line 293 of file maps/CLandmarksMap.h.
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.
float mrpt::maps::CLandmarksMap::TLikelihoodOptions::GPS_sigma |
A constant "sigma" for GPS localization data (in meters)
Definition at line 316 of file maps/CLandmarksMap.h.
struct VISION_IMPEXP mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin mrpt::maps::CLandmarksMap::TLikelihoodOptions::GPSOrigin |
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.
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.
Definition at line 288 of file maps/CLandmarksMap.h.
float mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTnullCorrespondenceDistance |
Definition at line 283 of file maps/CLandmarksMap.h.
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.
float mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_mahaDist_std |
Definition at line 282 of file maps/CLandmarksMap.h.
double mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_descriptor_dist |
Definition at line 281 of file maps/CLandmarksMap.h.
double mrpt::maps::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_euclidean_dist |
Definition at line 280 of file maps/CLandmarksMap.h.
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