/** Dump the options of the metric map in human-readable format */
void TMetricMapInitializer::dumpToTextStream(mrpt::utils::CStream &out) const
{
out.printf("-------------------------TMetricMapInitializer --------------------------\n");
out.printf("================ C++ Class: '%s'\n", this->metricMapClassType->className);
this->genericMapParams.dumpToTextStream(out);
// Class-specific:
this->dumpToTextStream_map_specific(out);
}
void Message_NMEA_ZDA::dumpToStream( mrpt::utils::CStream &out ) const
{
out.printf("[NMEA ZDA datum]\n");
out.printf(" UTC time-stamp: %02u:%02u:%02.03f\n",
fields.UTCTime.hour,
fields.UTCTime.minute,
fields.UTCTime.sec
);
out.printf(" Date (DD/MM/YY): %02u/%02u/%04u\n ",
(unsigned)fields.date_day,(unsigned)fields.date_month, (unsigned)fields.date_year);
}
/*---------------------------------------------------------------
dumpToTextStream
---------------------------------------------------------------*/
void CMultiMetricMapPDF::TPredictionParams::dumpToTextStream(mrpt::utils::CStream &out) const
{
out.printf("\n----------- [CMultiMetricMapPDF::TPredictionParams] ------------ \n\n");
out.printf("pfOptimalProposal_mapSelection = %i\n", pfOptimalProposal_mapSelection );
out.printf("ICPGlobalAlign_MinQuality = %f\n", ICPGlobalAlign_MinQuality );
KLD_params.dumpToTextStream(out);
icp_params.dumpToTextStream(out);
out.printf("\n");
}
void Message_NMEA_GLL::dumpToStream( mrpt::utils::CStream &out ) const
{
out.printf("[NMEA GLL datum]\n");
out.printf(" Longitude: %.09f deg Latitude: %.09f deg Validity: '%c'\n",
fields.longitude_degrees,
fields.latitude_degrees,
fields.validity_char );
out.printf(" UTC time-stamp: %02u:%02u:%02.03f\n",
fields.UTCTime.hour,
fields.UTCTime.minute,
fields.UTCTime.sec);
}
void COutputLogger::TMsg::writeToStream(mrpt::utils::CStream& out) const {
const std::string str = getAsString();
out.printf("%s", str.c_str());
#ifdef _MSC_VER
OutputDebugStringA(str.c_str());
#endif
}
void CGasConcentrationGridMap2D::TMapDefinition::dumpToTextStream_map_specific(mrpt::utils::CStream &out) const
{
out.printf("MAP TYPE = %s\n", mrpt::utils::TEnumType<CGasConcentrationGridMap2D::TMapRepresentation>::value2name(mapType).c_str() );
LOADABLEOPTS_DUMP_VAR(min_x , float);
LOADABLEOPTS_DUMP_VAR(max_x , float);
LOADABLEOPTS_DUMP_VAR(min_y , float);
LOADABLEOPTS_DUMP_VAR(max_y , float);
LOADABLEOPTS_DUMP_VAR(resolution , float);
this->insertionOpts.dumpToTextStream(out);
}
/*---------------------------------------------------------------
dumpToTextStream
---------------------------------------------------------------*/
void CIncrementalMapPartitioner::TOptions::dumpToTextStream(mrpt::utils::CStream &out) const
{
out.printf("\n----------- [CIncrementalMapPartitioner::TOptions] ------------ \n\n");
out.printf("partitionThreshold = %f\n",partitionThreshold);
out.printf("gridResolution = %f\n",gridResolution);
out.printf("minDistForCorrespondence = %f\n",minDistForCorrespondence);
out.printf("forceBisectionOnly = %c\n",forceBisectionOnly ? 'Y':'N');
out.printf("useMapMatching = %c\n",useMapMatching ? 'Y':'N');
out.printf("minimumNumberElementsEachCluster = %i\n",minimumNumberElementsEachCluster);
}
void Message_NMEA_RMC::dumpToStream( mrpt::utils::CStream &out ) const
{
out.printf("[NMEA RMC datum]\n");
out.printf(" Positioning mode: `%c`\n ", (char)fields.positioning_mode);
out.printf(" UTC time-stamp: %02u:%02u:%02.03f\n",
fields.UTCTime.hour,
fields.UTCTime.minute,
fields.UTCTime.sec
);
out.printf(" Date (DD/MM/YY): %02u/%02u/%02u\n ",
(unsigned)fields.date_day,(unsigned)fields.date_month, (unsigned)fields.date_year);
out.printf(" Longitude: %.09f deg Latitude: %.09f deg Valid?: '%c'\n",
fields.longitude_degrees,
fields.latitude_degrees,
fields.validity_char
);
out.printf(" Speed: %.05f knots Direction:%.03f deg.\n ",
fields.speed_knots,
fields.direction_degrees
);
out.printf(" Magnetic variation direction: %.04f deg\n ", fields.magnetic_dir);
}
/*---------------------------------------------------------------
dumpToTextStream
---------------------------------------------------------------*/
void CHMTSLAM::TOptions::dumpToTextStream(mrpt::utils::CStream &out) const
{
out.printf("\n----------- [CHMTSLAM::TOptions] ------------ \n\n");
LOADABLEOPTS_DUMP_VAR( LOG_OUTPUT_DIR, string );
LOADABLEOPTS_DUMP_VAR( LOG_FREQUENCY, int);
LOADABLEOPTS_DUMP_VAR( SLAM_METHOD, int);
LOADABLEOPTS_DUMP_VAR( SLAM_MIN_DIST_BETWEEN_OBS, float );
LOADABLEOPTS_DUMP_VAR_DEG( SLAM_MIN_HEADING_BETWEEN_OBS );
LOADABLEOPTS_DUMP_VAR( MIN_ODOMETRY_STD_XY, float );
LOADABLEOPTS_DUMP_VAR_DEG( MIN_ODOMETRY_STD_PHI );
LOADABLEOPTS_DUMP_VAR( random_seed, int );
AA_options.dumpToTextStream(out);
pf_options.dumpToTextStream(out);
KLD_params.dumpToTextStream(out);
defaultMapsInitializers.dumpToTextStream(out);
TLC_grid_options.dumpToTextStream(out);
TLC_fabmap_options.dumpToTextStream(out);
}
void Message_TOPCON_PZS::dumpToStream( mrpt::utils::CStream &out ) const
{
out.printf("\n[TopCon PZS datum]\n");
out.printf(" Longitude: %.09f deg Latitude: %.09f deg Height: %.03f m (%.03f m without NBeam) \n",
longitude_degrees,
latitude_degrees,
height_meters,
RTK_height_meters);
out.printf(" PZL-ID: %i Angle trans: %.05f deg\n ",
(int)nId,
angle_transmitter
);
out.printf(" Fix: %i ",(int)Fix);
out.printf(" Error: %i ",(int)error);
out.printf(" Battery levels: TX=%i RX=%i\n ",TXBattery,RXBattery);
out.printf(" hasCartesianPosVel= %s", hasCartesianPosVel ? "YES -> ":"NO\n");
if (hasCartesianPosVel)
{
out.printf(" x=%f y=%f z=%f\n",cartesian_x,cartesian_y,cartesian_z);
out.printf(" vx=%f vy=%f vz=%f\n",cartesian_vx,cartesian_vy,cartesian_vz);
}
out.printf("hasPosCov = %s", hasPosCov ? "YES\n":"NO\n");
if (hasPosCov)
out.printf("%s\n", pos_covariance.inMatlabFormat().c_str() );
out.printf("hasVelCov = %s", hasVelCov ? "YES\n":"NO\n");
if (hasVelCov)
out.printf("%s\n", vel_covariance.inMatlabFormat().c_str() );
out.printf("hasStats = %s", hasStats? "YES: ":"NO\n");
if(hasStats)
out.printf("GPS sats used: %i GLONASS sats used: %i RTK Fix progress:%i%%\n", (int)stats_GPS_sats_used, (int)stats_GLONASS_sats_used,(int)stats_rtk_fix_progress);
}
/*---------------------------------------------------------------
dumpToTextStream
---------------------------------------------------------------*/
void CICP::TConfigParams::dumpToTextStream(mrpt::utils::CStream &out) const
{
out.printf("\n----------- [CICP::TConfigParams] ------------ \n\n");
out.printf("ICP_algorithm = %s\n", mrpt::utils::TEnumType<TICPAlgorithm>::value2name(ICP_algorithm).c_str() );
out.printf("ICP_covariance_method = %s\n", mrpt::utils::TEnumType<TICPCovarianceMethod>::value2name(ICP_covariance_method).c_str() );
out.printf("maxIterations = %i\n",maxIterations);
out.printf("minAbsStep_trans = %f\n",minAbsStep_trans);
out.printf("minAbsStep_rot = %f\n",minAbsStep_rot);
out.printf("thresholdDist = %f\n",thresholdDist);
out.printf("thresholdAng = %f deg\n",RAD2DEG(thresholdAng));
out.printf("ALFA = %f\n",ALFA);
out.printf("smallestThresholdDist = %f\n",smallestThresholdDist);
out.printf("onlyClosestCorrespondences = %c\n",onlyClosestCorrespondences ? 'Y':'N');
out.printf("onlyUniqueRobust = %c\n",onlyUniqueRobust ? 'Y':'N');
out.printf("covariance_varPoints = %f\n",covariance_varPoints);
out.printf("doRANSAC = %c\n",doRANSAC ? 'Y':'N');
out.printf("ransac_minSetSize = %i\n",ransac_minSetSize);
out.printf("ransac_maxSetSize = %i\n",ransac_maxSetSize);
out.printf("ransac_mahalanobisDistanceThreshold = %f\n",ransac_mahalanobisDistanceThreshold);
out.printf("ransac_nSimulations = %i\n",ransac_nSimulations);
out.printf("ransac_fuseByCorrsMatch = %c\n",ransac_fuseByCorrsMatch ? 'Y':'N');
out.printf("ransac_fuseMaxDiffXY = %f\n",ransac_fuseMaxDiffXY);
out.printf("ransac_fuseMaxDiffPhi = %f deg\n",RAD2DEG( ransac_fuseMaxDiffPhi ));
out.printf("normalizationStd = %f\n",normalizationStd);
out.printf("kernel_rho = %f\n",kernel_rho);
out.printf("use_kernel = %c\n",use_kernel ? 'Y':'N');
out.printf("Axy_aprox_derivatives = %f\n",Axy_aprox_derivatives );
out.printf("LM_initial_lambda = %f\n",LM_initial_lambda);
out.printf("skip_cov_calculation = %c\n",skip_cov_calculation ? 'Y':'N');
out.printf("skip_quality_calculation = %c\n",skip_quality_calculation ? 'Y':'N');
out.printf("corresponding_points_decimation = %u\n",(unsigned int)corresponding_points_decimation);
out.printf("\n");
}
/*---------------------------------------------------------------
dumpToTextStream
---------------------------------------------------------------*/
void COccupancyGridMap2D::TLikelihoodOptions::dumpToTextStream(mrpt::utils::CStream &out) const
{
out.printf("\n----------- [COccupancyGridMap2D::TLikelihoodOptions] ------------ \n\n");
out.printf("likelihoodMethod = ");
switch (likelihoodMethod)
{
case lmMeanInformation: out.printf("lmMeanInformation"); break;
case lmRayTracing: out.printf("lmRayTracing"); break;
case lmConsensus: out.printf("lmConsensus"); break;
case lmCellsDifference: out.printf("lmCellsDifference"); break;
case lmLikelihoodField_Thrun: out.printf("lmLikelihoodField_Thrun"); break;
case lmLikelihoodField_II: out.printf("lmLikelihoodField_II"); break;
case lmConsensusOWA: out.printf("lmConsensusOWA"); break;
default:
out.printf("UNKNOWN!!!"); break;
}
out.printf("\n");
out.printf("enableLikelihoodCache = %c\n", enableLikelihoodCache ? 'Y':'N');
out.printf("LF_stdHit = %f\n", LF_stdHit );
out.printf("LF_zHit = %f\n", LF_zHit );
out.printf("LF_zRandom = %f\n", LF_zRandom );
out.printf("LF_maxRange = %f\n", LF_maxRange );
out.printf("LF_decimation = %u\n", LF_decimation );
out.printf("LF_maxCorrsDistance = %f\n", LF_maxCorrsDistance );
out.printf("LF_useSquareDist = %c\n", LF_useSquareDist ? 'Y':'N');
out.printf("LF_alternateAverageMethod = %c\n", LF_alternateAverageMethod ? 'Y':'N');
out.printf("MI_exponent = %f\n", MI_exponent );
out.printf("MI_skip_rays = %u\n", MI_skip_rays );
out.printf("MI_ratio_max_distance = %f\n", MI_ratio_max_distance );
out.printf("rayTracing_useDistanceFilter = %c\n", rayTracing_useDistanceFilter ? 'Y':'N');
out.printf("rayTracing_decimation = %u\n", rayTracing_decimation );
out.printf("rayTracing_stdHit = %f\n", rayTracing_stdHit );
out.printf("consensus_takeEachRange = %u\n", consensus_takeEachRange );
out.printf("consensus_pow = %.02f\n", consensus_pow);
out.printf("OWA_weights = [");
for (size_t i=0;i<OWA_weights.size();i++)
{
if (i<3 || i>(OWA_weights.size()-3))
out.printf("%.03f ",OWA_weights[i]);
else if (i==3 && OWA_weights.size()>6)
out.printf(" ... ");
}
out.printf("] (size=%u)\n",(unsigned)OWA_weights.size());
out.printf("\n");
}
void CRandomFieldGridMap3D::TInsertionOptions::dumpToTextStream(mrpt::utils::CStream &out) const
{
out.printf("GMRF_lambdaPrior = %f\n", GMRF_lambdaPrior);
out.printf("GMRF_skip_variance = %s\n", GMRF_skip_variance ? "true":"false");
}
// --------------------------------------------------
// dumpToTextStream
// --------------------------------------------------
void TMultiResDescMatchOptions::dumpToTextStream( mrpt::utils::CStream &out) const
{
out.printf("\n----------- [vision::TMultiResDescMatchOptions] ------------ \n");
out.printf("Use orientation filter?: ");
if( useOriFilter )
{
out.printf("Yes\n");
out.printf("· Orientation threshold: %.1f deg\n", RAD2DEG(oriThreshold) );
}
else
out.printf("No\n");
out.printf("Use depth filter?: ");
if( useDepthFilter )
out.printf("Yes\n");
else
{
out.printf("No\n" );
out.printf("Lowest scale in list1: %d\n", lowScl1 );
out.printf("Highest scale in list1: %d\n", highScl1 );
out.printf("Lowest scale in list2: %d\n", lowScl2 );
out.printf("Highest scale in list2: %d\n", highScl2 );
}
out.printf("#frames last seen threshold: %d\n", lastSeenThreshold );
out.printf("#frames to be stable threshold: %d\n", timesSeenThreshold );
out.printf("min. # features in system: %d\n", minFeaturesToFind );
out.printf("min. # features to be lost: %d\n", minFeaturesToBeLost );
out.printf("Matching threshold: %.2f\n", matchingThreshold );
out.printf("Matching ratio threshold: %.2f\n", matchingRatioThreshold );
out.printf("Size of the search window: %d px\n", searchAreaSize );
out.printf("-------------------------------------------------------- \n");
} // end-dumpToTextStream
void CFeature::dumpToTextStream( mrpt::utils::CStream &out) const
{
out.printf("\n----------- [vision::CFeature] ------------ \n");
out.printf("Feature ID: %d\n", (int)ID);
out.printf("Coordinates: (%.2f,%.2f) px\n", x, y );
out.printf("PatchSize: %d\n", patchSize );
out.printf("Type: ");
switch( type )
{
case -1: out.printf("Not defined\n"); break;
case 0: out.printf("KLT\n"); break;
case 1: out.printf("Harris\n"); break;
case 2: out.printf("BCD\n"); break;
case 3: out.printf("SIFT\n"); break;
case 4: out.printf("SURF\n"); break;
case 5: out.printf("Beacon\n"); break;
case 6: out.printf("FAST\n"); break;
case 7: out.printf("FASTER-9\n"); break;
case 8: out.printf("FASTER-10\n"); break;
case 9: out.printf("FASTER-12\n"); break;
case 10:out.printf("ORB"); break;
}
out.printf("Status: ");
switch( track_status )
{
case 0: out.printf("Idle\n"); break;
case 1: out.printf("[KLT] Out of bounds [KLT]\n"); break;
case 5: out.printf("[KLT] Tracked\n"); break;
case 10: out.printf("[KLT] Lost\n"); break;
}
out.printf("Response: %.2f\n", response );
out.printf("Main orientation: %.2f\n", orientation );
out.printf("Main scale: %.2f\n", scale );
out.printf("# frames seen: %d\n", nTimesSeen );
out.printf("# frames not seen: %d\n", nTimesNotSeen );
out.printf("# frames since last seen: %d\n", nTimesLastSeen );
out.printf("Initial Depth: %.2f m\n", initialDepth );
out.printf("Depth: %.2f m\n", depth );
out.printf("3D point: (%.2f,%.2f,%.2f) m\n", p3D.x, p3D.y, p3D.z );
out.printf("Is point feature?: ");
isPointFeature() ? out.printf("Yes\n") : out.printf("No\n");
out.printf("Has SIFT descriptor?: ");
descriptors.hasDescriptorSIFT() ? out.printf("Yes\n") : out.printf("No\n");
out.printf("Has SURF descriptor?: ");
descriptors.hasDescriptorSURF() ? out.printf("Yes\n") : out.printf("No\n");
out.printf("Has Spin image descriptor?: ");
descriptors.hasDescriptorSpinImg() ? out.printf("Yes\n") : out.printf("No\n");
out.printf("Has Polar descriptor?: ");
descriptors.hasDescriptorPolarImg() ? out.printf("Yes\n") : out.printf("No\n");
out.printf("Has Log Polar descriptor?: ");
descriptors.hasDescriptorLogPolarImg() ? out.printf("Yes\n") : out.printf("No\n");
out.printf("Has ORB descriptor?: ");
descriptors.hasDescriptorORB() ? out.printf("Yes\n") : out.printf("No\n");
out.printf("Has multiscale?: ");
if( !descriptors.hasDescriptorMultiSIFT() )
out.printf("No\n");
else
{
out.printf("Yes [%d]\n", (int)multiScales.size());
for( int k = 0; k < (int)multiScales.size(); ++k )
{
out.printf(" · Scale %d: %.2f\n", k, multiScales[k] );
for( int m = 0; m < (int)multiOrientations[k].size(); ++m )
{
out.printf(" ·· Orientation %d: %.2f\n", m, multiOrientations[k][m] );
out.printf(" ·· [D] " );
for( int n = 0; n < (int)descriptors.multiSIFTDescriptors[k][m].size(); ++n )
out.printf("%d ", descriptors.multiSIFTDescriptors[k][m][n] );
out.printf("\n");
if( multiHashCoeffs.size() > 0 )
out.printf(" ·· HASH coefficients %d,%d,%d\n", multiHashCoeffs[k][m][0], multiHashCoeffs[k][m][1],multiHashCoeffs[k][m][2] );
}//end-for-m
}//end-for-k
} // end else
} // end dumpToTextStream
// --------------------------------------------------
// dumpToTextStream
// --------------------------------------------------
void TMultiResDescOptions::dumpToTextStream( mrpt::utils::CStream &out) const
{
out.printf("\n----------- [vision::TMultiResDescOptions] ------------ \n");
out.printf("Base patch size: %d px\n", basePSize);
out.printf("Lowest scale to compute: %d\n", comLScl );
out.printf("Highest scale to compute: %d\n", comHScl );
out.printf("Image smoothing sigma: %.2f px\n", sg1 );
out.printf("Orientation histogram sigma: %.2f\n", sg2 );
out.printf("Descriptor histogram sigma: %.2f\n", sg3 );
out.printf("Compute depth: ");
if( computeDepth )
{
out.printf("Yes\n");
out.printf("Focal length: %.2f px\n", fx );
out.printf("Principal point (cx): %.2f px\n", cx );
out.printf("Principal point (cy): %.2f px\n", cy );
out.printf("Baseline: %.2f m\n", baseline );
}
else
out.printf("No\n");
out.printf("Compute Hash Coeffs: ");
if( computeHashCoeffs )
out.printf("Yes\n");
else
out.printf("No\n");
out.printf("Blur image previously: ");
if( blurImage )
out.printf("Yes\n");
else
out.printf("No\n");
out.printf("Scales: ");
for(unsigned int k = 0; k < scales.size(); ++k)
out.printf( "%.2f ", scales[k] );
out.printf("\n");
out.printf("-------------------------------------------------------- \n");
} // end-dumpToTextStream
void Message_NMEA_VTG::dumpToStream( mrpt::utils::CStream &out ) const
{
out.printf("[NMEA VTG datum]\n");
out.printf(" True track: %.03f deg Magnetic track: %.03f deg\n",fields.true_track, fields.magnetic_track);
out.printf(" Ground speed: %.03f knots %.03f km/h\n",fields.ground_speed_knots, fields.ground_speed_kmh);
}
void Message_NMEA_GGA::dumpToStream( mrpt::utils::CStream &out ) const
{
out.printf("[NMEA GGA datum]\n");
out.printf(" Longitude: %.09f deg Latitude: %.09f deg Height: %.03f m\n",
fields.longitude_degrees,
fields.latitude_degrees,
fields.altitude_meters );
out.printf(" Geoidal distance: %.03f m Orthometric alt.: %.03f m Corrected ort. alt.: %.03f m\n",
fields.geoidal_distance,
fields.orthometric_altitude,
fields.corrected_orthometric_altitude );
out.printf(" UTC time-stamp: %02u:%02u:%02.03f #sats=%2u ",
fields.UTCTime.hour,
fields.UTCTime.minute,
fields.UTCTime.sec,
fields.satellitesUsed );
out.printf("Fix mode: %u ",fields.fix_quality);
switch( fields.fix_quality )
{
case 0: out.printf("(Invalid)\n"); break;
case 1: out.printf("(GPS fix)\n"); break;
case 2: out.printf("(DGPS fix)\n"); break;
case 3: out.printf("(PPS fix)\n"); break;
case 4: out.printf("(Real Time Kinematic/RTK Fixed)\n"); break;
case 5: out.printf("(Real Time Kinematic/RTK Float)\n"); break;
case 6: out.printf("(Dead Reckoning)\n"); break;
case 7: out.printf("(Manual)\n"); break;
case 8: out.printf("(Simulation)\n"); break;
case 9: out.printf("(mmGPS + RTK Fixed)\n"); break;
case 10: out.printf("(mmGPS + RTK Float)\n"); break;
default: out.printf("(UNKNOWN!)\n"); break;
};
out.printf(" HDOP (Horizontal Dilution of Precision): ");
if (fields.thereis_HDOP)
out.printf(" %f\n", fields.HDOP);
else out.printf(" N/A\n");
}