/*---------------------------------------------------------------
					loadFromConfigFile
  ---------------------------------------------------------------*/
void  COccupancyGridMap2D::TLikelihoodOptions::loadFromConfigFile(
	const mrpt::utils::CConfigFileBase  &iniFile,
	const std::string &section)
{
	MRPT_LOAD_CONFIG_VAR_CAST(likelihoodMethod, int, TLikelihoodMethod, iniFile, section);

    enableLikelihoodCache               = iniFile.read_bool(section,"enableLikelihoodCache",enableLikelihoodCache);

	LF_stdHit							= iniFile.read_float(section,"LF_stdHit",LF_stdHit);
	LF_zHit								= iniFile.read_float(section,"LF_zHit",LF_zHit);
	LF_zRandom							= iniFile.read_float(section,"LF_zRandom",LF_zRandom);
	LF_maxRange							= iniFile.read_float(section,"LF_maxRange",LF_maxRange);
	LF_decimation						= iniFile.read_int(section,"LF_decimation",LF_decimation);
	LF_maxCorrsDistance					= iniFile.read_float(section,"LF_maxCorrsDistance",LF_maxCorrsDistance);
	LF_useSquareDist					= iniFile.read_bool(section,"LF_useSquareDist",LF_useSquareDist);
	LF_alternateAverageMethod			= iniFile.read_bool(section,"LF_alternateAverageMethod",LF_alternateAverageMethod);

	MI_exponent							= iniFile.read_float(section,"MI_exponent",MI_exponent);
	MI_skip_rays						= iniFile.read_int(section,"MI_skip_rays",MI_skip_rays);
	MI_ratio_max_distance				= iniFile.read_float(section,"MI_ratio_max_distance",MI_ratio_max_distance);

	rayTracing_useDistanceFilter		= iniFile.read_bool(section,"rayTracing_useDistanceFilter",rayTracing_useDistanceFilter);
	rayTracing_stdHit					= iniFile.read_float(section,"rayTracing_stdHit",rayTracing_stdHit);

	consensus_takeEachRange				= iniFile.read_int(section,"consensus_takeEachRange",consensus_takeEachRange);
	consensus_pow						= iniFile.read_float(section,"consensus_pow",consensus_pow);

	iniFile.read_vector(section,"OWA_weights",OWA_weights,OWA_weights);
}
Ejemplo n.º 2
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/**  Load all the params from a config source, in the format described in saveToConfigFile()
  */
void TMultiResDescOptions::loadFromConfigFile( const mrpt::utils::CConfigFileBase &cfg, const std::string &section )
{
    basePSize = cfg.read_double(section,"basePSize", 23, false );
    comLScl = cfg.read_int(section,"comLScl", 0, false );
    comHScl = cfg.read_int(section,"comHScl", 6, false );
    sg1 = cfg.read_double(section,"sg1", 0.5, false );
    sg2 = cfg.read_double(section,"sg2", 7.5, false );
    sg3 = cfg.read_double(section,"sg3", 8.0, false );
    computeDepth = cfg.read_bool(section,"computeDepth", true, false );
    blurImage = cfg.read_bool(section,"blurImage", true, false );
    fx = cfg.read_double(section,"fx",0.0, false);
    cx = cfg.read_double(section,"cx",0.0, false);
    cy = cfg.read_double(section,"cy",0.0, false);
    baseline = cfg.read_double(section,"baseline",0.0, false);
    computeHashCoeffs = cfg.read_bool(section,"computeHashCoeffs", false, false );


    cfg.read_vector(section,"scales",vector<double>(),scales,false);
    if(scales.size() < 1)
    {
        scales.resize(7);
        scales[0] = 0.5;
        scales[1] = 0.8;
        scales[2] = 1.0;
        scales[3] = 1.2;
        scales[4] = 1.5;
        scales[5] = 1.8;
        scales[6] = 2.0;
    } // end-if
}
Ejemplo n.º 3
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/** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)
*  \exception This method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.
*/
void  COpenNI2_RGBD360::loadConfig_sensorSpecific(
    const mrpt::utils::CConfigFileBase &configSource,
    const std::string			&iniSection )
{
    cout << "COpenNI2_RGBD360::loadConfig_sensorSpecific...\n";

    m_sensorPoseOnRobot.setFromValues(
        configSource.read_float(iniSection,"pose_x",0),
        configSource.read_float(iniSection,"pose_y",0),
        configSource.read_float(iniSection,"pose_z",0),
        DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
        DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
        DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
    );

    m_preview_window = configSource.read_bool(iniSection,"preview_window",m_preview_window);

    m_width = configSource.read_int(iniSection,"width",0);
    m_height = configSource.read_int(iniSection,"height",0);
    m_fps = configSource.read_float(iniSection,"fps",0);
    std::cout << "width " << m_width << " height " << m_height << " fps " << m_fps << endl;

    m_grab_rgb = configSource.read_bool(iniSection,"grab_image",m_grab_rgb);
    m_grab_depth = configSource.read_bool(iniSection,"grab_depth",m_grab_depth);
    m_grab_3D_points = configSource.read_bool(iniSection,"grab_3D_points",m_grab_3D_points);

    //  m_num_sensors = configSource.read_int(iniSection,"m_num_sensors",0);
}
Ejemplo n.º 4
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/*-------------------------------------------------------------
						loadConfig_sensorSpecific
-------------------------------------------------------------*/
void  CHokuyoURG::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string	  &iniSection )
{
	m_reduced_fov = DEG2RAD( configSource.read_float(iniSection,"reduced_fov",0) ),

	m_motorSpeed_rpm	= configSource.read_int(iniSection,"HOKUYO_motorSpeed_rpm",0);
	m_sensorPose.setFromValues(
		configSource.read_float(iniSection,"pose_x",0),
		configSource.read_float(iniSection,"pose_y",0),
		configSource.read_float(iniSection,"pose_z",0),
		DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
		);

	m_highSensMode = configSource.read_bool(iniSection,"HOKUYO_HS_mode",m_highSensMode);

#ifdef MRPT_OS_WINDOWS
	m_com_port = configSource.read_string(iniSection, "COM_port_WIN", m_com_port, true );
#else
	m_com_port = configSource.read_string(iniSection, "COM_port_LIN", m_com_port, true );
#endif

	m_ip_dir = configSource.read_string(iniSection, "IP_DIR", m_ip_dir );
	m_port_dir = configSource.read_int(iniSection, "PORT_DIR", m_port_dir );

	// FAMD
	m_showPreview = configSource.read_bool(iniSection, "preview", false );

	// Parent options:
	this->loadExclusionAreas(configSource,iniSection);
}
Ejemplo n.º 5
0
/*-------------------------------------------------------------
						loadConfig_sensorSpecific
-------------------------------------------------------------*/
void  CHokuyoURG::loadConfig_sensorSpecific(
    const mrpt::utils::CConfigFileBase &configSource,
    const std::string	  &iniSection )
{
    m_reduced_fov = DEG2RAD( configSource.read_float(iniSection,"reduced_fov",0) ),

    m_motorSpeed_rpm	= configSource.read_int(iniSection,"HOKUYO_motorSpeed_rpm",0);
    m_sensorPose.setFromValues(
        configSource.read_float(iniSection,"pose_x",0),
        configSource.read_float(iniSection,"pose_y",0),
        configSource.read_float(iniSection,"pose_z",0),
        DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
        DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
        DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
    );

    m_highSensMode = configSource.read_bool(iniSection,"HOKUYO_HS_mode",m_highSensMode);

#ifdef MRPT_OS_WINDOWS
    m_com_port = configSource.read_string(iniSection, "COM_port_WIN", m_com_port, true );
#else
    m_com_port = configSource.read_string(iniSection, "COM_port_LIN", m_com_port, true );
#endif

    m_ip_dir = configSource.read_string(iniSection, "IP_DIR", m_ip_dir );
    m_port_dir = configSource.read_int(iniSection, "PORT_DIR", m_port_dir );

    m_disable_firmware_timestamp = configSource.read_bool(iniSection, "disable_firmware_timestamp", m_disable_firmware_timestamp);

    // Parent options:
    C2DRangeFinderAbstract::loadCommonParams(configSource, iniSection);
}
Ejemplo n.º 6
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/* -----------------------------------------------------
                loadConfig_sensorSpecific
   ----------------------------------------------------- */
void  CGPSInterface::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string	  &iniSection )
{
	m_parser = configSource.read_enum<CGPSInterface::PARSERS>(iniSection,"parser",m_parser,false /*Allow default values*/);
	m_raw_dump_file_prefix = configSource.read_string(iniSection,"raw_dump_file_prefix",m_raw_dump_file_prefix,false /*Allow default values*/);

#ifdef MRPT_OS_WINDOWS
	m_COMname = configSource.read_string(iniSection, "COM_port_WIN", m_COMname, true );
#else
	m_COMname = configSource.read_string(iniSection, "COM_port_LIN", m_COMname, true );
#endif

	m_COMbauds		= configSource.read_int( iniSection, "baudRate",m_COMbauds, true );

	// legacy custom cmds:
	m_customInit	= configSource.read_string( iniSection, "customInit", m_customInit, false );

	// new custom cmds:
	m_custom_cmds_delay = configSource.read_float( iniSection, "custom_cmds_delay",m_custom_cmds_delay );
	m_custom_cmds_append_CRLF = configSource.read_bool( iniSection, "custom_cmds_append_CRLF",m_custom_cmds_append_CRLF);
	// Load as many strings as found on the way:
	m_setup_cmds.clear();
	for (int i=1; true; i++)
	{
		std::string sLine = configSource.read_string(iniSection, mrpt::format("setup_cmd%i",i),std::string() ); 
		sLine = mrpt::system::trim( sLine );
		if (sLine.empty()) 
			break;
		m_setup_cmds.push_back(sLine);
	}

	m_shutdown_cmds.clear();
	for (int i=1; true; i++)
	{
		std::string sLine = configSource.read_string(iniSection, mrpt::format("shutdown_cmd%i",i),std::string() ); 
		sLine = mrpt::system::trim( sLine );
		if (sLine.empty()) 
			break;
		m_shutdown_cmds.push_back(sLine);
	}

	m_sensorPose.setFromValues(
		configSource.read_float(iniSection,"pose_x",0),
		configSource.read_float(iniSection,"pose_y",0),
		configSource.read_float(iniSection,"pose_z",0),
		DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
		);

	m_JAVAD_rtk_src_port = configSource.read_string(iniSection, "JAVAD_rtk_src_port",m_JAVAD_rtk_src_port );
	m_JAVAD_rtk_src_baud = configSource.read_int(iniSection, "JAVAD_rtk_src_baud",m_JAVAD_rtk_src_baud );
	m_JAVAD_rtk_format   = configSource.read_string(iniSection,"JAVAD_rtk_format", m_JAVAD_rtk_format );

    m_topcon_useAIMMode = configSource.read_bool( iniSection,"JAVAD_useAIMMode", m_topcon_useAIMMode );
    m_topcon_data_period = 1.0/configSource.read_double( iniSection,"outputRate", m_topcon_data_period );
}
Ejemplo n.º 7
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/** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)
*  \exception This method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.
*/
void  CKinect::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string			&iniSection )
{
	m_sensorPoseOnRobot.setFromValues(
		configSource.read_float(iniSection,"pose_x",0),
		configSource.read_float(iniSection,"pose_y",0),
		configSource.read_float(iniSection,"pose_z",0),
		DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
		);

	m_preview_window = configSource.read_bool(iniSection,"preview_window",m_preview_window);

	// "Stereo" calibration data:
	// [<SECTION>_LEFT]  // Depth
	//   ...
	// [<SECTION>_RIGHT] // RGB
	//   ...
	// [<SECTION>_LEFT2RIGHT_POSE]
	//  pose_quaternion = [x y z qr qx qy qz]

	const mrpt::poses::CPose3D twist(0,0,0,DEG2RAD(-90),DEG2RAD(0),DEG2RAD(-90));

	mrpt::utils::TStereoCamera  sc;
	sc.leftCamera  = m_cameraParamsDepth;  // Load default values so that if we fail to load from cfg at least we have some reasonable numbers.
	sc.rightCamera = m_cameraParamsRGB;
	sc.rightCameraPose = mrpt::poses::CPose3DQuat(m_relativePoseIntensityWRTDepth - twist);

	try {
		sc.loadFromConfigFile(iniSection,configSource);
	} catch (std::exception &e) {
		std::cout << "[CKinect::loadConfig_sensorSpecific] Warning: Ignoring error loading calibration parameters:\n" << e.what();
	}
	m_cameraParamsDepth = sc.leftCamera;
	m_cameraParamsRGB   = sc.rightCamera;
	m_relativePoseIntensityWRTDepth = twist + mrpt::poses::CPose3D(sc.rightCameraPose);

	// Id:
	m_user_device_number = configSource.read_int(iniSection,"device_number",m_user_device_number );

	m_grab_image = configSource.read_bool(iniSection,"grab_image",m_grab_image);
	m_grab_depth = configSource.read_bool(iniSection,"grab_depth",m_grab_depth);
	m_grab_3D_points = configSource.read_bool(iniSection,"grab_3D_points",m_grab_3D_points);
	m_grab_IMU = configSource.read_bool(iniSection,"grab_IMU",m_grab_IMU );

	m_video_channel = configSource.read_enum<TVideoChannel>(iniSection,"video_channel",m_video_channel);

	{
		std::string s = configSource.read_string(iniSection,"relativePoseIntensityWRTDepth","");
		if (!s.empty())
			m_relativePoseIntensityWRTDepth.fromString(s);
	}

	m_initial_tilt_angle = configSource.read_int(iniSection,"initial_tilt_angle",m_initial_tilt_angle);
}
Ejemplo n.º 8
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/** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)
*  \exception This method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.
*/
void  COpenNI2Sensor::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string			&iniSection )
{
	cout << "COpenNI2Sensor::loadConfig_sensorSpecific...\n";

	m_sensorPoseOnRobot.setFromValues(
		configSource.read_float(iniSection,"pose_x",0),
		configSource.read_float(iniSection,"pose_y",0),
		configSource.read_float(iniSection,"pose_z",0),
		DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
		);

	m_preview_window = configSource.read_bool(iniSection,"preview_window",m_preview_window);

	width = configSource.read_int(iniSection,"width",0);
	height = configSource.read_int(iniSection,"height",0);
	fps = configSource.read_float(iniSection,"fps",0);
	std::cout << "width " << width << " height " << height << " fps " << fps << endl;

	const mrpt::poses::CPose3D twist(0,0,0,DEG2RAD(-90),DEG2RAD(0),DEG2RAD(-90));

	mrpt::utils::TStereoCamera  sc;
	sc.leftCamera  = m_cameraParamsDepth;  // Load default values so that if we fail to load from cfg at least we have some reasonable numbers.
	sc.rightCamera = m_cameraParamsRGB;
	sc.rightCameraPose = mrpt::poses::CPose3DQuat(m_relativePoseIntensityWRTDepth - twist);

	try {
		sc.loadFromConfigFile(iniSection,configSource);
	} catch (std::exception &e) {
		std::cout << "[COpenNI2Sensor::loadConfig_sensorSpecific] Warning: Ignoring error loading calibration parameters:\n" << e.what();
	}
	m_cameraParamsDepth = sc.leftCamera;
	m_cameraParamsRGB   = sc.rightCamera;
	m_relativePoseIntensityWRTDepth = twist + mrpt::poses::CPose3D(sc.rightCameraPose);

	// Id:
	m_user_device_number = configSource.read_int(iniSection,"device_number",m_user_device_number );
	cout << "LOAD m_user_device_number " << m_user_device_number << endl;

	m_grab_image = configSource.read_bool(iniSection,"grab_image",m_grab_image);
	m_grab_depth = configSource.read_bool(iniSection,"grab_depth",m_grab_depth);
	m_grab_3D_points = configSource.read_bool(iniSection,"grab_3D_points",m_grab_3D_points);

	{
		std::string s = configSource.read_string(iniSection,"relativePoseIntensityWRTDepth","");
		if (!s.empty())
			m_relativePoseIntensityWRTDepth.fromString(s);
	}

}
Ejemplo n.º 9
0
/* -----------------------------------------------------
				loadConfig_sensorSpecific
   ----------------------------------------------------- */
void CNTRIPEmitter::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase& c, const std::string& s)
{
#ifdef MRPT_OS_WINDOWS
	m_com_port = c.read_string(s, "COM_port_WIN", "");
#else
	m_com_port = c.read_string(s, "COM_port_LIN", "");
#endif

	m_raw_output_file_prefix = c.read_string(s, "raw_output_file_prefix", "");

	ASSERTMSG_(
		!m_raw_output_file_prefix.empty() || !m_com_port.empty(),
		"At least one of either raw file output or serial COM file must be "
		"specified in configuration file!");

	if (!m_com_port.empty())
	{
		m_com_bauds = c.read_int(s, "baudRate", m_com_bauds, true);
	}

	m_transmit_to_server =
		c.read_bool(s, "transmit_to_server", m_transmit_to_server);

	m_ntrip_args.mountpoint =
		mrpt::system::trim(c.read_string(s, "mountpoint", "", true));
	m_ntrip_args.server =
		mrpt::system::trim(c.read_string(s, "server", "", true));
	m_ntrip_args.port = c.read_int(s, "port", 2101, true);

	m_ntrip_args.user = mrpt::system::trim(c.read_string(s, "user", ""));
	m_ntrip_args.password =
		mrpt::system::trim(c.read_string(s, "password", ""));
}
Ejemplo n.º 10
0
/* -----------------------------------------------------
                loadConfig_sensorSpecific
   ----------------------------------------------------- */
void  CGPSInterface::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string	  &iniSection )
{
#ifdef MRPT_OS_WINDOWS
	m_COMname = configSource.read_string(iniSection, "COM_port_WIN", m_COMname, true );
#else
	m_COMname = configSource.read_string(iniSection, "COM_port_LIN", m_COMname, true );
#endif

	m_COMbauds		= configSource.read_int( iniSection, "baudRate",m_COMbauds, true );

	m_customInit	= configSource.read_string( iniSection, "customInit", m_customInit, false );

	m_sensorPose.x( configSource.read_float( iniSection, "pose_x",0, false ) );
	m_sensorPose.y( configSource.read_float( iniSection, "pose_y",0, false ) );
	m_sensorPose.z( configSource.read_float( iniSection, "pose_z",0, false ) );

	m_JAVAD_rtk_src_port = configSource.read_string(iniSection, "JAVAD_rtk_src_port",m_JAVAD_rtk_src_port );
	m_JAVAD_rtk_src_baud = configSource.read_int(iniSection, "JAVAD_rtk_src_baud",m_JAVAD_rtk_src_baud );
	m_JAVAD_rtk_format   = configSource.read_string(iniSection,"JAVAD_rtk_format", m_JAVAD_rtk_format );

    m_useAIMMode = configSource.read_bool( iniSection,"JAVAD_useAIMMode", m_useAIMMode );
    m_data_period = 1.0/configSource.read_double( iniSection,"outputRate", m_data_period );
}
Ejemplo n.º 11
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void  CRandomFieldGridMap3D::TInsertionOptions::loadFromConfigFile(
	const mrpt::utils::CConfigFileBase  &iniFile,
	const std::string &section)
{
	GMRF_lambdaPrior = iniFile.read_double(section.c_str(), "GMRF_lambdaPrior", GMRF_lambdaPrior);
	GMRF_skip_variance = iniFile.read_bool(section.c_str(),"GMRF_skip_variance", GMRF_skip_variance);
}
Ejemplo n.º 12
0
/*-------------------------------------------------------------
					loadConfig_sensorSpecific
-------------------------------------------------------------*/
void CIMUIntersense::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase& configSource,
	const std::string& iniSection)
{
	m_sensorPose.setFromValues(
		configSource.read_float(iniSection, "pose_x", 0, false),
		configSource.read_float(iniSection, "pose_y", 0, false),
		configSource.read_float(iniSection, "pose_z", 0, false),
		DEG2RAD(configSource.read_float(iniSection, "pose_yaw", 0, false)),
		DEG2RAD(configSource.read_float(iniSection, "pose_pitch", 0, false)),
		DEG2RAD(configSource.read_float(iniSection, "pose_roll", 0, false)));

	m_sensitivity =
		configSource.read_int(iniSection, "sensitivity", m_sensitivity, false);
	m_enhancement =
		configSource.read_int(iniSection, "enhancement", m_enhancement, false);
	m_prediction =
		configSource.read_int(iniSection, "prediction", m_prediction, false);
	m_useBuffer =
		configSource.read_bool(iniSection, "useBuffer", m_useBuffer, false);

	// dump parameters to console
	cout << "---------------------------" << endl;
	cout << "Intersense IMU parameters: " << endl;
	cout << "---------------------------" << endl;
	cout << "Sensitivity:	" << m_sensitivity << endl;
	cout << "Enhancement:	" << m_enhancement << endl;
	cout << "Prediction:	" << m_prediction << endl;
	cout << "Use buffer:	" << m_useBuffer << endl;
	cout << m_sensorPose << endl;
	cout << "---------------------------" << endl << endl;
}
Ejemplo n.º 13
0
/*-------------------------------------------------------------
						loadExclusionAreas
-------------------------------------------------------------*/
void C2DRangeFinderAbstract::loadCommonParams(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string	  &iniSection )
{
	// Params:
	m_showPreview = configSource.read_bool(iniSection, "preview", false );

	// Load exclusion areas:
	m_lstExclusionPolys.clear();
	m_lstExclusionAngles.clear();

	unsigned int N = 1;

	for(;;)
	{
		vector<double> x,y, z_range;
		configSource.read_vector( iniSection, format("exclusionZone%u_x",N), vector<double>(0), x);
		configSource.read_vector( iniSection, format("exclusionZone%u_y",N), vector<double>(0), y);
		configSource.read_vector( iniSection, format("exclusionZone%u_z",N++), vector<double>(0), z_range);

		if (!x.empty() && !y.empty())
		{
			ASSERT_(x.size()==y.size())

			CObservation2DRangeScan::TListExclusionAreasWithRanges::value_type dat;

			dat.first.setAllVertices(x,y);
			if (z_range.empty())
			{
				dat.second.first  = -std::numeric_limits<double>::max();
				dat.second.second =  std::numeric_limits<double>::max();
			}
			else
			{
				ASSERTMSG_(z_range.size()==2,"exclusionZone%u_z must be a range [z_min z_max]");
				ASSERT_(z_range[0]<=z_range[1]);

				dat.second.first  = z_range[0];
				dat.second.second = z_range[1];
			}

			m_lstExclusionPolys.push_back(dat);
		}
		else break;
	}


	// Load forbiden angles;
	N = 1;

	for(;;)
	{
		const double ini = DEG2RAD( configSource.read_double( iniSection, format("exclusionAngles%u_ini",N), -1000 ) );
		const double end = DEG2RAD( configSource.read_double( iniSection, format("exclusionAngles%u_end",N++), -1000 ) );

		if (ini>-M_PI && end>-M_PI)
		     m_lstExclusionAngles.push_back(make_pair(ini,end));
		else break;
	}
}
Ejemplo n.º 14
0
/*-------------------------------------------------------------
						loadConfig
-------------------------------------------------------------*/
void  CActivMediaRobotBase::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string	  &iniSection )
{
#ifdef MRPT_OS_WINDOWS
	m_com_port = configSource.read_string(iniSection,"robotPort_WIN",m_com_port,true);
#else
	m_com_port = configSource.read_string(iniSection,"robotPort_LIN",m_com_port,true);
#endif
	m_robotBaud = configSource.read_int(iniSection, "robotBaud", m_robotBaud, true );

	m_enableSonars = configSource.read_bool(iniSection, "enableSonars", m_enableSonars );

	m_enableJoyControl = configSource.read_bool(iniSection, "joystick_control", m_enableJoyControl );
	m_joy_max_v = configSource.read_float(iniSection, "joystick_max_v", m_joy_max_v );
	m_joy_max_w = DEG2RAD( configSource.read_float(iniSection, "joystick_max_w_degps", RAD2DEG(m_joy_max_w) ) );
	m_capture_rate = configSource.read_double(iniSection, "capture_rate", m_capture_rate );

}
Ejemplo n.º 15
0
/**  Load all the params from a config source, in the format described in saveToConfigFile()
  */
void TMultiResDescMatchOptions::loadFromConfigFile( const mrpt::utils::CConfigFileBase &cfg, const std::string &section )
{

    useOriFilter = cfg.read_bool(section,"useOriFilter",true,false);
    oriThreshold = cfg.read_double(section,"oriThreshold",0.2,false);
    lastSeenThreshold = cfg.read_int(section,"lastSeenThreshold",10,false);
    timesSeenThreshold = cfg.read_int(section,"timesSeenThreshold",5,false);
    minFeaturesToFind = cfg.read_int(section,"minFeaturesToFind",5,false);
    minFeaturesToBeLost = cfg.read_int(section,"minFeaturesToBeLost",5,false);

    useDepthFilter = cfg.read_bool(section,"useDepthFilter",true,false);

    matchingThreshold = cfg.read_double(section,"matchingThreshold",1e4,false);
    matchingRatioThreshold = cfg.read_double(section,"matchingRatioThreshold",0.5,false);

    lowScl1 = cfg.read_int(section,"lowScl1",0,false);
    lowScl2 = cfg.read_int(section,"lowScl1",0,false);
    highScl1 = cfg.read_int(section,"highScl1",6,false);
    highScl2 = cfg.read_int(section,"highScl2",6,false);

    searchAreaSize = cfg.read_double(section,"searchAreaSize",20,false);
}
Ejemplo n.º 16
0
/*-------------------------------------------------------------
						loadConfig_sensorSpecific
-------------------------------------------------------------*/
void  CHokuyoURG::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string	  &iniSection )
{
	m_reduced_fov = DEG2RAD( configSource.read_float(iniSection,"reduced_fov",0) ),

	m_motorSpeed_rpm	= configSource.read_int(iniSection,"HOKUYO_motorSpeed_rpm",0);
	m_sensorPose.setFromValues(
		configSource.read_float(iniSection,"pose_x",0),
		configSource.read_float(iniSection,"pose_y",0),
		configSource.read_float(iniSection,"pose_z",0),
		DEG2RAD( configSource.read_float(iniSection,"pose_yaw",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_pitch",0) ),
		DEG2RAD( configSource.read_float(iniSection,"pose_roll",0) )
		);

	m_highSensMode = configSource.read_bool(iniSection,"HOKUYO_HS_mode",m_highSensMode);

#ifdef MRPT_OS_WINDOWS
	m_com_port = configSource.read_string(iniSection, "COM_port_WIN", m_com_port);
#else
	m_com_port = configSource.read_string(iniSection, "COM_port_LIN", m_com_port);
#endif

	m_ip_dir = configSource.read_string(iniSection, "IP_DIR", m_ip_dir );
	m_port_dir = configSource.read_int(iniSection, "PORT_DIR", m_port_dir );

	ASSERTMSG_(!m_com_port.empty() || !m_ip_dir.empty(), "Either COM_port or IP_DIR must be defined in the configuration file!");
	ASSERTMSG_(m_com_port.empty() || m_ip_dir.empty(), "Both COM_port and IP_DIR set! Please, define only one of them.");
	if (!m_ip_dir.empty()) { ASSERTMSG_(m_port_dir,"A TCP/IP port number `PORT_DIR` must be specified for Ethernet connection"); }

	

	m_disable_firmware_timestamp = configSource.read_bool(iniSection, "disable_firmware_timestamp", m_disable_firmware_timestamp);

	// Parent options:
	C2DRangeFinderAbstract::loadCommonParams(configSource, iniSection);
}
/* -----------------------------------------------------
                loadConfig_sensorSpecific
   ----------------------------------------------------- */
void  CPhidgetInterfaceKitProximitySensors::loadConfig_sensorSpecific(
	const mrpt::utils::CConfigFileBase &configSource,
	const std::string	  &iniSection )
{
#if MRPT_HAS_PHIDGET
	if(!configSource.sectionExists(iniSection)) THROW_EXCEPTION("Can't find section in configuration file");
	// looking for the board parameters.
	// process_rate = 100 						// Hz (common to all sensors)
	// serialNumber = 12345						// The interface kit serial number.
	m_process_rate = configSource.read_int(iniSection, string("process_rate"), 50);
	m_serialNumber = configSource.read_int(iniSection, string("serialNumber"), -1);
	bool display = configSource.read_bool(iniSection, string("displayRecapitulativeInformations"), false);

	// Looking for each sensor.

	for(int i = 1 ; i <= 8 ; i++)
	{
		string sensorNKeyName = format("sensor%d", i);
		string sensorType = configSource.read_string(iniSection, sensorNKeyName, string("UNPLUGGED"));
		if(sensorType != string("UNPLUGGED"))
		{
			// the sensor is plugged :
			// // check if the sensor type is supported.
			if(sensorType == string("EZ1"))
			{
				m_sensorType[i-1] = EZ1;
				m_minRange[i-1] = 0.15;			// meters
				m_maxRange[i-1] = 6.45;			// meters
			}else if(sensorType == string("SHARP-30cm"))
			{
				m_sensorType[i-1] = SHARP_30cm;
				m_minRange[i-1] = 0.04;			// meters
				m_maxRange[i-1] = 0.3;			// meters
			}else if(sensorType == string("SHARP-80cm"))
			{
				m_sensorType[i-1] = SHARP_80cm;
				m_minRange[i-1] = 0.06;			// meters
				m_maxRange[i-1] = 0.8;			// meters
			}else
			{
				string err = format("Type of sensor %d is not supported", i);
				m_state = CGenericSensor::ssError;
				THROW_EXCEPTION(err);
			}
			m_sensorIsPlugged[i-1] = true;
			// reading the sensor pose.
			string sensorNPoseX = format("pose%d_x", i);
			string sensorNPoseY = format("pose%d_y", i);
			string sensorNPoseZ = format("pose%d_z", i);
			string sensorNPoseYaw = format("pose%d_yaw", i);
			string sensorNPosePitch = format("pose%d_pitch", i);
			string sensorNPoseRoll = format("pose%d_roll", i);

			float x = configSource.read_float(iniSection, sensorNPoseX, 0.0);
			float y = configSource.read_float(iniSection, sensorNPoseY, 0.0);
			float z = configSource.read_float(iniSection, sensorNPoseZ, 0.0);
			float yaw = configSource.read_float(iniSection, sensorNPoseYaw, 0.0);
			float pitch = configSource.read_float(iniSection, sensorNPosePitch, 0.0);
			float roll = configSource.read_float(iniSection, sensorNPoseRoll, 0.0);

			m_sensorPoses[i-1] = CPose3D(x,y,z,yaw,pitch,roll);
		}
	}
	if(display)
	{	// width = 80;
		cout.fill(' ');
		cout << "+------------------------------------------------------------------------------+" << endl;
		cout.width(79);
		cout << "|  Phidget interfaceKit board number : " << m_serialNumber;
		cout << "|" << endl;
		cout << "| Process rate : " << m_process_rate;
		cout << "|" << endl;
		cout << "+---------+---------------------+----------------------------------------------+" << endl;
		cout << "|    #    + Sensor type         | Sensor 3D pose                               |" << endl;
		cout << "+---------+---------------------+----------------------------------------------+" << endl;
		for(int i = 0 ; i < 8 ; i++)
		{
			cout << "|";
			cout.width(9);
			cout << i+1;
			cout << " |";
			cout.width(19);
			switch (m_sensorType[i])
			{
				case EZ1 :
					cout << "EZ1 |";
					break;
				case SHARP_30cm :
					cout << "SHARP_30cm |";
					break;
				case SHARP_80cm :
					cout << "SHARP_80cm |";
					break;
				case UNPLUGGED :
					cout << "UNPLUGGED |";
					break;
			}
			cout.width(43);
			cout << m_sensorPoses[i];
			cout << "|" << endl;
		}
		cout << "+------------------------------------------------------------------------------+" << endl;
	}
#endif
}