struct mola::HashedVoxelPointCloud::TLikelihoodOptions

Overview

Options used when evaluating “computeObservationLikelihood” in the derived classes.

See also:

CObservation::computeObservationLikelihood

#include <HashedVoxelPointCloud.h>

struct TLikelihoodOptions: public mrpt::config::CLoadableOptions
{
    // fields

    double sigma_dist = 0.5;
    double max_corr_distance = 1.0;
    uint32_t decimation = 10;

    // methods

    void loadFromConfigFile(
        const mrpt::config::CConfigFileBase& source,
        const std::string& section
        );

    void dumpToTextStream(std::ostream& out) const;
    void writeToStream(mrpt::serialization::CArchive& out) const;
    void readFromStream(mrpt::serialization::CArchive& in);
};

Fields

double sigma_dist = 0.5

Sigma (standard deviation, in meters) of the Gaussian observation model used to model the likelihood (default= 0.5 m)

double max_corr_distance = 1.0

Maximum distance in meters to consider for the numerator divided by “sigma_dist”, so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters)

uint32_t decimation = 10

Speed up the likelihood computation by considering only one out of N rays (default=10)