Loads the configuration for the set of internal maps from a textual definition in an INI-like file.
[<sectionName>]
colourOctoMap_count=<Number of mrpt::slam::CColourOctoMap maps>
[<sectionName>+"_occupancyGrid_##_creationOpts"]
min_x=<value>
max_x=<value>
min_y=<value>
max_y=<value>
resolution=<value>
# Common params for all maps:
#enableSaveAs3DObject = {true|false}
#enableObservationLikelihood = {true|false}
#enableObservationInsertion = {true|false}
[<sectionName>+"_occupancyGrid_##_insertOpts"]
[<sectionName>+"_occupancyGrid_##_likelihoodOpts"]
[<sectionName>+"_octoMap_##_creationOpts"]
resolution=<value>
[<sectionName>+"_octoMap_##_insertOpts"]
<See COctoMap::TInsertionOptions>
[<sectionName>+"_octoMap_##_likelihoodOpts"]
<See COctoMap::TLikelihoodOptions>
[<sectionName>+"_colourOctoMap_##_creationOpts"]
resolution=<value>
[<sectionName>+"_colourOctoMap_##_insertOpts"]
<See CColourOctoMap::TInsertionOptions>
[<sectionName>+"_colourOctoMap_##_likelihoodOpts"]
<See CColourOctoMap::TLikelihoodOptions>
[<sectionName>+"_pointsMap_##_insertOpts"]
[<sectionName>+"_pointsMap_##_likelihoodOpts"]
[<sectionName>+"_gasGrid_##_creationOpts"]
min_x=<value>
max_x=<value>
min_y=<value>
max_y=<value>
resolution=<value>
[<sectionName>+"_gasGrid_##_insertOpts"]
[<sectionName>+"_wifiGrid_##_creationOpts"]
min_x=<value>
max_x=<value>
min_y=<value>
max_y=<value>
resolution=<value>
[<sectionName>+"_wifiGrid_##_insertOpts"]
[<sectionName>+"_landmarksMap_##_creationOpts"]
nBeacons=<# of beacons>
beacon_001_ID=67 ; The ID and 3D coordinates of each beacon
beacon_001_X=<x>
beacon_001_Y=<x>
beacon_001_Z=<x>
[<sectionName>+"_landmarksMap_##_insertOpts"]
[<sectionName>+"_landmarksMap_##_likelihoodOpts"]
[<sectionName>+"_beaconMap_##_insertOpts"]
[<sectionName>+"_beaconMap_##_likelihoodOpts"]
[<sectionName>+"_heightGrid_##_creationOpts"]
mapType= <0-1>
min_x=<value>
max_x=<value>
min_y=<value>
max_y=<value>
resolution=<value>
[<sectionName>+"_heightGrid_##_insertOpts"]
[<sectionName>+"_reflectivityGrid_##_creationOpts"]
min_x=<value>
max_x=<value>
min_y=<value>
max_y=<value>
resolution=<value>
[<sectionName>+"_reflectivityGrid_##_insertOpts"]
[<sectionName>+"_colourPointsMap_##_insertOpts"]
[<sectionName>+"_colourPointsMap_##_colorOpts"]
[<sectionName>+"_colourPointsMap_##_likelihoodOpts"]
[<sectionName>+"_weightedPointsMap_##_insertOpts"]
[<sectionName>+"_weightedPointsMap_##_likelihoodOpts"]
A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian,...
A map of 2D/3D points with individual colours (RGB).
CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area.
CGasConcentrationGridMap2D(TMapRepresentation mapType=mrAchim, float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1)
Constructor.
Digital Elevation Model (DEM), a mesh or grid representation of a surface which keeps the estimated h...
A class for storing a map of 3D probabilistic landmarks.
With this struct options are provided to the observation insertion process.
With this struct options are provided to the observation likelihood computation process.
A class for storing an occupancy grid map.
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
A 2D grid map representing the reflectivity of the environment (for example, measured with an IR prox...
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.
CWirelessPowerGridMap2D(TMapRepresentation mapType=mrKernelDM, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1)
Constructor.
This struct contains data for choosing the method by which new beacons are inserted in the map.
With this struct options are provided to the likelihood computations.
The definition of parameters for generating colors from laser scans.
Parameters related with inserting observations into the map:
Parameters related with inserting observations into the map.
With this struct options are provided to the observation insertion process.
With this struct options are provided to the likelihood computations.
With this struct options are provided to the observation insertion process.
Options used when evaluating "computeObservationLikelihood" in the derived classes.
Parameters related with inserting observations into the map.
Parameters related with inserting observations into the map: