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		<title>HTM-SLAM - Part of the MRPT project</title>
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															<label>More parameters:</label>
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															<value>//====================================================&#x0A;//               HMT-SLAM&#x0A;// Here come global parameters for the app.&#x0A;//====================================================&#x0A;[HMT-SLAM]&#x0A;&#x0A;// The directory where the log files will be saved (left in blank if no log is required)&#x0A;LOG__OUTPUT__DIR&#x09;= LOG__HTMSLAM__MALAGA&#x0A;&#x0A;rawlog__offset&#x09;= 0&#x09;&#x09;// Whether to skip some rawlog entries &#x0A;LOG__FREQUENCY&#x09;= 20&#x09;// The frequency of log files generation:&#x0A;LOG__SHOW3D&#x09;&#x09;= 1&#x0A;random__seed&#x09;&#x09;= 1234&#x09;// 0:Randomize, !=0:use that seed.&#x0A;&#x0A;// --------------------------------&#x0A;// Local SLAM method selection:&#x0A;//   1: RBPF__2DLASER&#x0A;// --------------------------------&#x0A;SLAM__METHOD=1&#x0A;&#x0A;//SLAM__MIN__DIST__BETWEEN__OBS=1.0&#x09;&#x09;// Map updates threshold (meters)&#x0A;//SLAM__MIN__HEADING__BETWEEN__OBS__DEG=50&#x09;// Map updates threshold (degrees)&#x0A;&#x0A;SLAM__MIN__DIST__BETWEEN__OBS=1.25&#x09;&#x09;// Map updates threshold (meters)&#x0A;SLAM__MIN__HEADING__BETWEEN__OBS__DEG=30&#x09;// Map updates threshold (degrees)&#x0A;&#x0A;MIN__ODOMETRY__STD__XY&#x09;&#x09;= 0.05&#x09;&#x09;// Minimum sigma in odometry increments (meters)&#x0A;MIN__ODOMETRY__STD__PHI&#x09;= 2&#x09;&#x09;&#x09;// Minimum sigma in odometry increments (deg)&#x0A;&#x0A;// Loop closure detectors:&#x0A;// gridmaps&#x0A;// images&#x0A;TLC__DETECTORS=gridmaps&#x0A;&#x0A;// ====================================================&#x0A;//          TLC__GRIDMATCHING&#x0A;//&#x0A;//  Top. Loop-closure detector based on grid-matching&#x0A;// ====================================================&#x0A;[TLC__GRIDMATCHING]&#x0A;featsPerSquareMeter&#x09;&#x09;= 0.012&#x0A;&#x0A;threshold__max&#x09;&#x09;&#x09;= 0.20 &#x09;&#x09;// For considering candidate matches&#x0A;threshold__delta&#x09;&#x09;&#x09;= 0.09&#x0A;&#x0A;ransac__prob__good__inliers = 0.9999999999  // Prob. of a good inliers (for the number of iterations).&#x0A;&#x0A;maxKLd__for__merge        = 0.9&#x09;&#x09;// Merge of close SOG modes&#x0A;&#x0A;min__ICP__goodness&#x09;= 0.25&#x0A;max__ICP__mahadist&#x09;= 20 //10 // The maximum Mahalanobis distance between the initial and final poses in the ICP not to discard the hypothesis (default=10)&#x0A;&#x0A;ransac__minSetSizeRatio&#x09;= 0.15 // 0.20&#x0A;&#x0A;ransac__mahalanobisDistanceThreshold&#x09;= 6&#x09;&#x09;// amRobust method only&#x0A;ransac__chi2__quantile&#x09;= 0.5 &#x09;&#x09;&#x09;&#x09;// amModifiedRANSAC method only&#x0A;&#x0A;save__feat__coors&#x09;&#x09;&#x09;= 0&#x09;&#x09;// Dump correspondences to grid__feats&#x0A;debug__save__map__pairs&#x09;= 1&#x09;&#x09;// Save the pair of maps with the best correspondences&#x0A;debug__show__corrs&#x09;&#x09;= 0&#x09;&#x09;// Debug output of graphs&#x0A;&#x0A;&#x0A;// ----------------------------------------------------------&#x0A;// All the params of the feature detectors/descriptors&#x0A;// ----------------------------------------------------------&#x0A;featsType&#x09;&#x09;&#x09;= 1&#x09;&#x09;// 0: KLT, 1: Harris, 3: SIFT, 4: SURF&#x0A;&#x0A;// The feature descriptor to use: 0=detector already has descriptor, &#x0A;//  1= SIFT, 2=SURF, 4=Spin images, 8=Polar images, 16=log-polar images &#x0A;feature__descriptor&#x09;&#x09;= 8&#x0A;&#x0A;patchSize&#x09;&#x09;&#x09;= 0   &#x09;// Not needed&#x0A;&#x0A;KLTOptions.min__distance&#x09;&#x09;= 6&#x09;&#x09;&#x09;// Pixels&#x0A;KLTOptions.threshold&#x09;&#x09;= 0.01 // 0.10  // 0.20&#x0A;&#x0A;harrisOptions.min__distance&#x09;= 6&#x09;&#x09;&#x09;// Pixels&#x0A;harrisOptions.threshold &#x09;= 0.10  // 0.20&#x0A;&#x0A;SIFTOptions.implementation&#x09;= 3&#x09;&#x09;&#x09;// Hess&#x0A;&#x0A;SURFOptions.rotation__invariant&#x09;= 1&#x09;&#x09;// 0=64 dims, 1=128dims&#x0A;&#x0A;SpinImagesOptions.hist__size__distance&#x09;= 10 &#x0A;SpinImagesOptions.hist__size__intensity&#x09;= 10 &#x0A;SpinImagesOptions.radius&#x09;&#x09;&#x09;= 20&#x0A;&#x0A;PolarImagesOptions.bins__angle&#x09;&#x09;&#x09;= 8&#x0A;PolarImagesOptions.bins__distance&#x09;&#x09;= 6&#x0A;PolarImagesOptions.radius&#x09;&#x09;&#x09;= 40&#x0A;&#x0A;LogPolarImagesOptions.radius&#x09;&#x09;&#x09;= 20&#x0A;LogPolarImagesOptions.num__angles&#x09;&#x09;= 8&#x0A;&#x0A;&#x0A;&#x0A;// ====================================================&#x0A;//&#x0A;//            &#x09;PARTICLE__FILTER&#x0A;//&#x0A;//  Parameters of the PARTICLE FILTER within each LMH,&#x0A;//   invoked &amp; implemented in CLSLAM__RBPF__2DLASER&#x0A;// ====================================================&#x0A;[PARTICLE__FILTER]&#x0A;//----------------------------------------------------------------------------------&#x0A;// The Particle Filter algorithm:&#x0A;//&#x09;0: pfStandardProposal&#x0A;//&#x09;1: pfAuxiliaryPFStandard&#x0A;//&#x09;2: pfOptimalProposal      *** (ICP,...)&#x0A;//&#x09;3: pfAuxiliaryPFOptimal&#x09;  *** (Optimal SAMPLING)&#x0A;//&#x0A;// See: http://www.mrpt.org/Particle__Filters&#x0A;//----------------------------------------------------------------------------------&#x0A;PF__algorithm=3&#x0A;&#x0A;adaptiveSampleSize&#x09;= 0&#x09;&#x09;// 0: Fixed # of particles, 1: KLD adaptive&#x0A;&#x0A;//----------------------------------------------------------------------------------&#x0A;// The Particle Filter Resampling method:&#x0A;//&#x09;0: prMultinomial&#x0A;//&#x09;1: prResidual&#x0A;//&#x09;2: prStratified&#x0A;//&#x09;3: prSystematic&#x0A;//&#x0A;// See: /docs/html/topic__resampling.html or http://mrpt.sourceforge.net/topic__resampling.html&#x0A;//----------------------------------------------------------------------------------&#x0A;resamplingMethod=0&#x0A;pfAuxFilterOptimal__MaximumSearchSamples = 250&#x09;&#x09;// For PF algorithm=3&#x0A;&#x0A;sampleSize&#x09;= 5&#x09;&#x09;// Number of particles (for fixed number algorithms)&#x0A;BETA&#x09;&#x09;= 0.50&#x09;// Resampling ESS threshold&#x09;&#x0A;powFactor&#x09;= 0.01&#x09;&#x09;&#x09;// A &quot;power factor&quot; for updating weights&#x09;&#x09;&#x09;&#x0A;&#x0A;&#x0A;// ====================================================&#x0A;//&#x09;&#x09;GRAPH__CUT&#x0A;//&#x0A;//  Params for Area Abstraction (AA)&#x0A;// ====================================================&#x0A;[GRAPH__CUT]&#x0A;partitionThreshold                    = 0.6     // In the range [0,1]. 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									<label>SLAM parameters</label>
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																			<label>Select hypothesis:</label>
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																		<border>5</border>
																		<option>1</option>
																	</object>
																	<object class="sizeritem">
																		<object class="wxChoice" name="ID_CHOICE1" variable="cbHypos" member="yes" />
																		<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
																		<border>5</border>
																		<option>1</option>
																	</object>
																</object>
																<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
																<option>1</option>
															</object>
															<object class="sizeritem">
																<object class="wxNotebook" name="ID_NOTEBOOK2" variable="Notebook2" member="yes">
																	<style>wxNB_MULTILINE</style>
																	<handler function="OnNotebook2PageChanged" entry="EVT_NOTEBOOK_PAGE_CHANGED" />
																	<object class="notebookpage">
																		<object class="wxPanel" name="ID_PANEL15" variable="panTreeView" member="yes">
																			<object class="wxFlexGridSizer" variable="FlexGridSizer15" member="no">
																				<cols>1</cols>
																				<rows>2</rows>
																				<growablecols>0</growablecols>
																				<growablerows>0</growablerows>
																				<object class="sizeritem">
																					<object class="wxTreeCtrl" name="ID_TREECTRL1" variable="treeView" member="yes">
																						<style>wxTR_LINES_AT_ROOT|wxTR_MULTIPLE|wxTR_DEFAULT_STYLE|wxVSCROLL|wxHSCROLL</style>
																					</object>
																					<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
																					<option>1</option>
																				</object>
																			</object>
																		</object>
																		<label>Tree view</label>
																		<selected>1</selected>
																	</object>
																	<object class="notebookpage">
																		<object class="wxPanel" name="ID_PANEL17" variable="Panel15" member="yes" />
																		<label>All nodes</label>
																	</object>
																	<object class="notebookpage">
																		<object class="wxPanel" name="ID_PANEL16" variable="Panel14" member="yes" />
																		<label>All arcs</label>
																	</object>
																</object>
																<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
																<border>1</border>
																<option>1</option>
															</object>
															<object class="sizeritem">
																<object class="wxPanel" name="ID_PANEL8" variable="Panel8" member="yes">
																	<object class="wxFlexGridSizer" variable="FlexGridSizer8" member="no">
																		<cols>1</cols>
																		<rows>2</rows>
																		<growablecols>0</growablecols>
																		<growablerows>0</growablerows>
																		<object class="sizeritem">
																			<object class="wxBoxSizer" variable="BoxSizer3" member="no">
																				<object class="sizeritem">
																					<object class="wxStaticText" name="ID_STATICTEXT5" variable="StaticText5" member="yes">
																						<label>Edit the map</label>
																						<font>
																							<weight>bold</weight>
																							<sysfont>wxSYS_SYSTEM_FONT</sysfont>
																							<relativesize>1.000000</relativesize>
																						</font>
																						<style>wxALIGN_CENTRE</style>
																					</object>
																					<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
																					<border>5</border>
																					<option>1</option>
																				</object>
																			</object>
																			<flag>wxALL|wxALIGN_BOTTOM|wxALIGN_CENTER_HORIZONTAL</flag>
																			<option>1</option>
																		</object>
																		<object class="sizeritem">
																			<object class="wxPanel" name="ID_PANEL14" variable="Panel12" member="yes">
																				<object class="wxFlexGridSizer" variable="FlexGridSizer14" member="no">
																					<cols>1</cols>
																					<rows>2</rows>
																					<growablecols>0</growablecols>
																					<object class="sizeritem">
																						<object class="wxFlexGridSizer" variable="FlexGridSizer6" member="no">
																							<cols>3</cols>
																							<object class="sizeritem">
																								<object class="wxCustomButton" name="ID_BUTTON7" variable="btnImportArea" member="yes">
																									<flat>1</flat>
																									<label>Import area/metric map...</label>
																									<label_margin>10,2</label_margin>
																									<bitmap_margin>-1,3</bitmap_margin>
																								</object>
																								<flag>wxALL|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
																								<border>5</border>
																								<option>1</option>
																							</object>
																						</object>
																						<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
																						<option>1</option>
																					</object>
																					<object class="sizeritem">
																						<object class="wxFlexGridSizer" variable="FlexGridSizer9" member="no">
																							<cols>3</cols>
																							<object class="sizeritem">
																								<object class="wxCustomButton" name="ID_BUTTON8" variable="btnAddNode" member="yes">
																									<flat>1</flat>
																									<label>Add node...</label>
																									<label_margin>10,2</label_margin>
																									<bitmap_margin>-1,3</bitmap_margin>
																								</object>
																								<flag>wxALL|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
																								<border>5</border>
																								<option>1</option>
																							</object>
																							<object class="sizeritem">
																								<object class="wxCustomButton" name="ID_BUTTON9" variable="btnAddArc" member="yes">
																									<flat>1</flat>
																									<label>Add arc...</label>
																									<label_margin>10,2</label_margin>
																									<bitmap_margin>-1,3</bitmap_margin>
																								</object>
																								<flag>wxALL|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
																								<border>5</border>
																								<option>1</option>
																							</object>
																						</object>
																						<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
																						<option>1</option>
																					</object>
																				</object>
																			</object>
																			<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
																			<option>1</option>
																		</object>
																	</object>
																</object>
																<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
																<option>1</option>
															</object>
														</object>
													</object>
													<object class="wxPanel" name="ID_PANEL7" variable="Panel4" member="yes">
														<object class="wxBoxSizer" variable="BoxSizer1" member="no">
															<object class="sizeritem">
																<object class="wxSplitterWindow" name="ID_SPLITTERWINDOW2" variable="SplitterWindow2" member="yes">
																	<minsize>60</minsize>
																	<minsize>60,60</minsize>
																	<style>wxSP_3D|wxSP_LIVE_UPDATE</style>
																	<object class="wxPanel" name="ID_PANEL10" variable="Panel6" member="yes">
																		<size>100,100</size>
																		<minsize>100,100</minsize>
																		<object class="wxFlexGridSizer" variable="FlexGridSizer10" member="no">
																			<cols>1</cols>
																			<growablecols>0</growablecols>
																			<growablerows>1</growablerows>
																			<object class="sizeritem">
																				<object class="wxStaticText" name="ID_STATICTEXT3" variable="StaticText3" member="yes">
																					<label>Global HMT map</label>
																					<font>
																						<weight>bold</weight>
																						<sysfont>wxSYS_SYSTEM_FONT</sysfont>
																						<relativesize>1.000000</relativesize>
																					</font>
																					<style>wxALIGN_CENTRE</style>
																				</object>
																				<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
																				<border>5</border>
																				<option>1</option>
																			</object>
																			<object class="sizeritem">
																				<object class="wxPanel" name="ID_PANEL11" variable="Panel7" member="yes">
																					<object class="wxFlexGridSizer" variable="FlexGridSizer11" member="no">
																						<cols>1</cols>
																						<growablecols>0</growablecols>
																						<growablerows>0</growablerows>
																						<object class="sizeritem">
																							<object class="Custom" name="ID_XY_GLCANVAS" subclass="CMyGLCanvas" variable="m_glGlobalHMTMap" member="yes">
																								<creating_code>$(THIS) = new $(CLASS)($(PARENT),$(ID),$(POS),$(SIZE),$(STYLE),$(NAME));</creating_code>
																								<include_file>MyGLCanvas.h</include_file>
																								<local_include>1</local_include>
																								<style>wxTAB__TRAVERSAL</style>
																								<focused>1</focused>
																							</object>
																							<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
																							<option>1</option>
																						</object>
																					</object>
																				</object>
																				<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
																				<option>1</option>
																			</object>
																		</object>
																	</object>
																	<object class="wxPanel" name="ID_PANEL12" variable="Panel10" member="yes">
																		<size>100,100</size>
																		<minsize>100,100</minsize>
																		<object class="wxFlexGridSizer" variable="FlexGridSizer12" member="no">
																			<cols>1</cols>
																			<growablecols>0</growablecols>
																			<growablerows>1</growablerows>
																			<object class="sizeritem">
																				<object class="wxStaticText" name="ID_STATICTEXT4" variable="StaticText4" member="yes">
																					<label>Selected area local map</label>
																					<font>
																						<weight>bold</weight>
																						<sysfont>wxSYS_SYSTEM_FONT</sysfont>
																						<relativesize>1.000000</relativesize>
																					</font>
																					<style>wxALIGN_CENTRE</style>
																				</object>
																				<flag>wxALL|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
																				<border>5</border>
																				<option>1</option>
																			</object>
																			<object class="sizeritem">
																				<object class="wxPanel" name="ID_PANEL13" variable="Panel11" member="yes">
																					<object class="wxFlexGridSizer" variable="FlexGridSizer13" member="no">
																						<cols>1</cols>
																						<growablecols>0</growablecols>
																						<growablerows>0</growablerows>
																						<object class="sizeritem">
																							<object class="Custom" name="ID_CUSTOM1" subclass="CMyGLCanvas" variable="m_glLocalArea" member="yes">
																								<creating_code>$(THIS) = new $(CLASS)($(PARENT),$(ID),$(POS),$(SIZE),$(STYLE),$(NAME));</creating_code>
																								<include_file>MyGLCanvas.h</include_file>
																								<local_include>1</local_include>
																								<style>wxTAB__TRAVERSAL</style>
																								<focused>1</focused>
																							</object>
																							<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
																							<option>1</option>
																						</object>
																					</object>
																				</object>
																				<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
																				<option>1</option>
																			</object>
																		</object>
																	</object>
																</object>
																<flag>wxALL|wxEXPAND|wxALIGN_CENTER_HORIZONTAL|wxALIGN_CENTER_VERTICAL</flag>
																<option>1</option>
															</object>
														</object>
													</object>
												</object>
												<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
												<option>1</option>
											</object>
										</object>
									</object>
									<label>HMT-MAP view</label>
									<selected>1</selected>
								</object>
							</object>
							<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
							<border>1</border>
							<option>1</option>
						</object>
					</object>
				</object>
				<flag>wxALL|wxEXPAND|wxALIGN_LEFT|wxALIGN_BOTTOM</flag>
				<option>1</option>
			</object>
		</object>
		<object class="wxMenuBar" variable="MenuBar1" member="no">
			<object class="wxMenu" variable="Menu1" member="no">
				<label>&amp;File</label>
				<object class="wxMenuItem" name="ID_MENUITEM1" variable="MenuItem3" member="yes">
					<label>Reset HMT map</label>
					<handler function="OnbtnResetClick" entry="EVT_MENU" />
				</object>
				<object class="separator" />
				<object class="wxMenuItem" name="ID_MENUITEM2" variable="MenuItem4" member="yes">
					<label>Load state...</label>
					<handler function="OnbtnLoadClick" entry="EVT_MENU" />
				</object>
				<object class="wxMenuItem" name="ID_MENUITEM3" variable="MenuItem5" member="no">
					<label>Save state...</label>
					<handler function="OnbtnSaveClick" entry="EVT_MENU" />
				</object>
				<object class="separator" />
				<object class="wxMenuItem" name="idMenuQuit" variable="MenuItem1" member="no">
					<label>Quit</label>
					<accel>Alt-F4</accel>
					<help>Quit the application</help>
					<handler function="OnQuit" entry="EVT_MENU" />
				</object>
			</object>
			<object class="wxMenu" variable="Menu3" member="yes">
				<label>Map Building</label>
				<object class="wxMenuItem" name="ID_MENUITEM6" variable="MenuItem8" member="no">
					<label>Set parameters</label>
					<handler function="OnMenuSetSLAMParameter" entry="EVT_MENU" />
				</object>
				<object class="separator" />
				<object class="wxMenuItem" name="ID_MENUITEM4" variable="MenuItem6" member="no">
					<label>Start SLAM</label>
					<handler function="OnbtnStartClick" entry="EVT_MENU" />
				</object>
				<object class="wxMenuItem" name="ID_MENUITEM5" variable="MenuItem7" member="yes">
					<label>Pause SLAM</label>
					<handler function="OnbtnPauseClick" entry="EVT_MENU" />
				</object>
			</object>
			<object class="wxMenu" variable="Menu2" member="no">
				<label>Help</label>
				<object class="wxMenuItem" name="idMenuAbout" variable="MenuItem2" member="no">
					<label>About</label>
					<accel>F1</accel>
					<help>Show info about this application</help>
					<handler function="OnAbout" entry="EVT_MENU" />
				</object>
			</object>
		</object>
		<object class="wxStatusBar" name="ID_STATUSBAR1" variable="StatusBar1" member="yes">
			<fields>1</fields>
			<widths>-1</widths>
			<styles>wxSB_NORMAL</styles>
		</object>
	</object>
</wxsmith>
