karto::CorrelationGrid Class Reference

#include <OpenMapper.h>

Inheritance diagram for karto::CorrelationGrid:

List of all members.

Public Member Functions
const Rectangle2< kt_int32s > &	GetROI () const
virtual kt_int32s	GridIndex (const Vector2i &rGrid, kt_bool boundaryCheck=true) const
void	SetROI (const Rectangle2< kt_int32s > &roi)
void	SmearPoint (const Vector2i &rGridPoint)
Static Public Member Functions
static CorrelationGrid *	CreateGrid (kt_int32s width, kt_int32s height, kt_double resolution, kt_double smearDeviation)
Protected Member Functions
virtual void	CalculateKernel ()
	CorrelationGrid (kt_int32u width, kt_int32u height, kt_int32u borderSize, kt_double resolution, kt_double smearDeviation)
Static Protected Member Functions
static kt_int32s	GetHalfKernelSize (kt_double smearDeviation, kt_double resolution)
Private Member Functions
void	SmearInternal (kt_int32s halfKernel, kt_int32s kernelConstant, kt_int8u *pGridAdr)
Private Attributes
kt_int32s	m_KernelSize
kt_int8u *	m_pKernel
Rectangle2< kt_int32s >	m_Roi
kt_double	m_SmearDeviation

---

Detailed Description

Correlation grid used for scan matching

Definition at line 816 of file OpenMapper.h.

---

Constructor & Destructor Documentation

karto::CorrelationGrid::CorrelationGrid	(	kt_int32u	width,
		kt_int32u	height,
		kt_int32u	borderSize,
		kt_double	resolution,
		kt_double	smearDeviation
	)		[inline, protected]

Constructs a correlation grid of given size and parameters

Parameters:

width	width
height	height
borderSize	size of border
resolution	resolution
smearDeviation	amount to smear when adding scans to grid

Definition at line 921 of file OpenMapper.h.

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Member Function Documentation

virtual void karto::CorrelationGrid::CalculateKernel

(

)

[inline, protected, virtual]

Sets up the kernel for grid smearing

Definition at line 938 of file OpenMapper.h.

static CorrelationGrid* karto::CorrelationGrid::CreateGrid	(	kt_int32s	width,
		kt_int32s	height,
		kt_double	resolution,
		kt_double	smearDeviation
	)		[inline, static]

Creates a correlation grid of given size and parameters

Parameters:

width	width
height	height
resolution	resolution
smearDeviation	amount to smear when adding scans to grid

Returns:

correlation grid

Definition at line 838 of file OpenMapper.h.

static kt_int32s karto::CorrelationGrid::GetHalfKernelSize	(	kt_double	smearDeviation,
		kt_double	resolution
	)		[inline, static, protected]

Computes the kernel half-size based on the smear distance and the grid resolution. Computes to two standard deviations to get 95% region and to reduce aliasing.

Parameters:

smearDeviation	amount to smear when adding scans to grid
resolution	resolution

Returns:

kernel half-size based on the parameters

Definition at line 999 of file OpenMapper.h.

const Rectangle2<kt_int32s>& karto::CorrelationGrid::GetROI

(

)

const [inline]

Get the region of interest (ROI)

Returns:

region of interest

Definition at line 868 of file OpenMapper.h.

virtual kt_int32s karto::CorrelationGrid::GridIndex	(	const Vector2i &	rGrid,
		kt_bool	boundaryCheck = true
	)		const [inline, virtual]

Gets the index into the data pointer of the given grid coordinate

Parameters:

rGrid	grid coordinate
boundaryCheck	whether to check the boundary of the grid

Returns:

grid index

Reimplemented from karto::Grid< kt_int8u >.

Definition at line 856 of file OpenMapper.h.

void karto::CorrelationGrid::SetROI

(

const Rectangle2< kt_int32s > &

roi

)

[inline]

Sets the region of interest (ROI)

Parameters:

roi	location of the ROI

Definition at line 877 of file OpenMapper.h.

void karto::CorrelationGrid::SmearInternal	(	kt_int32s	halfKernel,
		kt_int32s	kernelConstant,
		kt_int8u *	pGridAdr
	)		[inline, private]

Definition at line 1008 of file OpenMapper.h.

void karto::CorrelationGrid::SmearPoint

(

const Vector2i &

rGridPoint

)

[inline]

Smears cell if the cell at the given point is marked as "occupied"

Parameters:

rGridPoint

grid coordinate

Definition at line 886 of file OpenMapper.h.

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Member Data Documentation

kt_int32s karto::CorrelationGrid::m_KernelSize [private]

Definition at line 1034 of file OpenMapper.h.

kt_int8u* karto::CorrelationGrid::m_pKernel [private]

Definition at line 1037 of file OpenMapper.h.

Rectangle2<kt_int32s> karto::CorrelationGrid::m_Roi [private]

Definition at line 1040 of file OpenMapper.h.

kt_double karto::CorrelationGrid::m_SmearDeviation [private]

The point readings are smeared by this value in X and Y to create a smoother response. Default value is 0.03 meters.

Definition at line 1031 of file OpenMapper.h.

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The documentation for this class was generated from the following file:

• OpenMapper.h