struct mola::SparseTreesPointCloud::TLikelihoodOptions

Overview

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

See also:

CObservation::computeObservationLikelihood

#include <SparseTreesPointCloud.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

Divisor of the squared point-to-map distance in the per-point log-likelihood, -d^2/sigma_dist [m^2]. For a Gaussian of standard deviation s it is 2*s^2, so the default 0.5 means s = 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)