Main MRPT website > C++ reference for MRPT 1.3.2
List of all members | Classes | Public Member Functions | Public Attributes | Static Protected Member Functions
mrpt::maps::CLandmarksMap::TLikelihoodOptions Struct Reference

Detailed Description

With this struct options are provided to the likelihood computations.

Definition at line 277 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 ()
 Initilization of default parameters. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const
 See utils::CLoadableOptions. 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

unsigned int rangeScan2D_decimation
 The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation) More...
 
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...
 
float beaconRangesStd
 The standard deviation used for Beacon ranges likelihood (default=0.08). More...
 
float alphaRatio
 The ratio between gaussian and uniform distribution (default=1). More...
 
float beaconMaxRange
 Maximun reliable beacon range value (default=20) More...
 
struct VISION_IMPEXP mrpt::maps::CLandmarksMap::TLikelihoodOptions::TGPSOrigin GPSOrigin
 
float GPS_sigma
 A constant "sigma" for GPS localization data (in meters) More...
 
mrpt::vision::CFeatureExtraction::TOptions SIFT_feat_options
 Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map. 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

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

Initilization of default parameters.

Member Function Documentation

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

Just like dumpToTextStream() but sending the text to the console (std::cout)

void mrpt::maps::CLandmarksMap::TLikelihoodOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual
static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
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.

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited
void mrpt::maps::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)
virtual
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 target,
const std::string &  section 
) const
virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.

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

float mrpt::maps::CLandmarksMap::TLikelihoodOptions::alphaRatio

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

Definition at line 316 of file maps/CLandmarksMap.h.

float mrpt::maps::CLandmarksMap::TLikelihoodOptions::beaconMaxRange

Maximun reliable beacon range value (default=20)

Definition at line 320 of file maps/CLandmarksMap.h.

float mrpt::maps::CLandmarksMap::TLikelihoodOptions::beaconRangesStd

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

Definition at line 312 of file maps/CLandmarksMap.h.

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

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

Definition at line 350 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 296 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.

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 356 of file maps/CLandmarksMap.h.

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

Definition at line 304 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 308 of file maps/CLandmarksMap.h.

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

Definition at line 302 of file maps/CLandmarksMap.h.

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

Definition at line 300 of file maps/CLandmarksMap.h.

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

Definition at line 298 of file maps/CLandmarksMap.h.




Page generated by Doxygen 1.8.9.1 for MRPT 1.3.2 SVN:Unversioned directory at Thu Dec 10 00:07:55 UTC 2015