With this struct options are provided to the likelihood computations.
Definition at line 277 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 () | |
Initilization of default parameters. More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
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 §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 | |
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) |
mrpt::maps::CLandmarksMap::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 |
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 |
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::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.
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.
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