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mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions Class Reference


Detailed Description

With this struct options are provided to the observation likelihood computation process.

Definition at line 709 of file COccupancyGridMap2D.h.

#include <mrpt/slam/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions:
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List of all members.

Public Member Functions

 TLikelihoodOptions ()
 Initilization of default parameters.
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 This method load the options from a ".ini" file.
void dumpToTextStream (CStream &out) const
 This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Public Attributes

TLikelihoodMethod likelihoodMethod
 The selected method to compute an observation likelihood.
float LF_stdHit
 [LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35
float LF_zHit
 [LikelihoodField] Ratios of the hit/random components of the likelihood; Default values=0.95/0.5
float LF_zRandom
float LF_maxRange
 [LikelihoodField] The max.
uint32_t LF_decimation
 [LikelihoodField] The decimation of the points in a scan, default=1 == no decimation.
float LF_maxCorrsDistance
 [LikelihoodField] The max.
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".
float MI_exponent
 [MI] The exponent in the MI likelihood computation.
uint32_t MI_skip_rays
 [MI] The scan rays decimation: at every N rays, one will be used to compute the MI:
float MI_ratio_max_distance
 [MI] The ratio for the max.
bool rayTracing_useDistanceFilter
 [rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones.
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.
float rayTracing_stdHit
 [rayTracing] The laser range sigma.
int32_t consensus_takeEachRange
 [Consensus] The down-sample ratio of ranges (default=1, consider all the ranges)
float consensus_pow
 [Consensus] The power factor for the likelihood (default=5)
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.
bool enableLikelihoodCache
 Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false).

Constructor & Destructor Documentation

mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::TLikelihoodOptions (  )

Initilization of default parameters.


Member Function Documentation

void mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::dumpToTextStream ( CStream out ) const [virtual]

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Implements mrpt::utils::CLoadableOptions.

void mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [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:

  [section]
        resolution=0.10         ; blah blah...
        modeSelection=1         ; 0=blah, 1=blah,...

Implements mrpt::utils::CLoadableOptions.


Member Data Documentation

[Consensus] The power factor for the likelihood (default=5)

Definition at line 793 of file COccupancyGridMap2D.h.

[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges)

Definition at line 789 of file COccupancyGridMap2D.h.

Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false).

Definition at line 801 of file COccupancyGridMap2D.h.

[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 761 of file COccupancyGridMap2D.h.

[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation.

Definition at line 753 of file COccupancyGridMap2D.h.

[LikelihoodField] The max.

distance for searching correspondences around each sensed point

Definition at line 757 of file COccupancyGridMap2D.h.

[LikelihoodField] The max.

range of the sensor (def=81meters)

Definition at line 749 of file COccupancyGridMap2D.h.

[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35

Definition at line 741 of file COccupancyGridMap2D.h.

[LikelihoodField] Ratios of the hit/random components of the likelihood; Default values=0.95/0.5

Definition at line 745 of file COccupancyGridMap2D.h.

Definition at line 745 of file COccupancyGridMap2D.h.

The selected method to compute an observation likelihood.

Definition at line 737 of file COccupancyGridMap2D.h.

[MI] The exponent in the MI likelihood computation.

Default value = 5

Definition at line 765 of file COccupancyGridMap2D.h.

[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 773 of file COccupancyGridMap2D.h.

[MI] The scan rays decimation: at every N rays, one will be used to compute the MI:

Definition at line 769 of file COccupancyGridMap2D.h.

[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 797 of file COccupancyGridMap2D.h.

[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 781 of file COccupancyGridMap2D.h.

[rayTracing] The laser range sigma.

Definition at line 785 of file COccupancyGridMap2D.h.

[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones.

Definition at line 777 of file COccupancyGridMap2D.h.




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