karto::CorrelationGrid Class Reference

#include <Mapper.h>

Inheritance diagram for karto::CorrelationGrid:

List of all members.

Public Member Functions
const Rectangle2< kt_int32s > &	GetROI () const
virtual kt_int32s	GridIndex (const Vector2< kt_int32s > &rGrid, kt_bool boundaryCheck=true) const
void	SetROI (const Rectangle2< kt_int32s > &roi)
void	SmearPoint (const Vector2< kt_int32s > &rGridPoint)
virtual	~CorrelationGrid ()
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 Attributes
kt_int32s	m_KernelSize
kt_int8u *	m_pKernel
Rectangle2< kt_int32s >	m_Roi
kt_double	m_SmearDeviation

---

Detailed Description

Implementation of a correlation grid used for scan matching

Definition at line 793 of file Mapper.h.

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Constructor & Destructor Documentation

virtual karto::CorrelationGrid::~CorrelationGrid

(

)

[inline, virtual]

Destructor

Definition at line 799 of file Mapper.h.

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
height
borderSize
resolution
smearDeviation

Definition at line 909 of file Mapper.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 927 of file Mapper.h.

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

Create a correlation grid of given size and parameters

Parameters:

width
height
resolution
smearDeviation

Returns:

correlation grid

Definition at line 813 of file Mapper.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
resolution

Returns:

kernel half-size based on the parameters

Definition at line 991 of file Mapper.h.

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

(

)

const [inline]

Get the Region Of Interest (ROI)

Returns:

region of interest

Definition at line 846 of file Mapper.h.

virtual kt_int32s karto::CorrelationGrid::GridIndex	(	const Vector2< kt_int32s > &	rGrid,
		kt_bool	boundaryCheck = true
	)		const [inline, virtual]

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

Parameters:

rGrid
boundaryCheck

Returns:

grid index

Reimplemented from karto::Grid< kt_int8u >.

Definition at line 834 of file Mapper.h.

void karto::CorrelationGrid::SetROI

(

const Rectangle2< kt_int32s > &

roi

)

[inline]

Sets the Region Of Interest (ROI)

Parameters:

roi

Definition at line 855 of file Mapper.h.

void karto::CorrelationGrid::SmearPoint

(

const Vector2< kt_int32s > &

rGridPoint

)

[inline]

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

Parameters:

rGridPoint

Definition at line 864 of file Mapper.h.

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Member Data Documentation

kt_int32s karto::CorrelationGrid::m_KernelSize [private]

Definition at line 1006 of file Mapper.h.

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

Definition at line 1009 of file Mapper.h.

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

Definition at line 1012 of file Mapper.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 1003 of file Mapper.h.

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

• Mapper.h