Struct HashedVoxelPointCloud::TLikelihoodOptions

Nested Relationships

This struct is a nested type of Class HashedVoxelPointCloud.

Inheritance Relationships

Base Type

  • public mrpt::config::CLoadableOptions

Struct Documentation

struct TLikelihoodOptions : public mrpt::config::CLoadableOptions

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

See also

CObservation::computeObservationLikelihood

Public Functions

TLikelihoodOptions() = default
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
void dumpToTextStream(std::ostream &out) const override
void writeToStream(mrpt::serialization::CArchive &out) const
void readFromStream(mrpt::serialization::CArchive &in)

Public Members

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)