grid_map Namespace Reference

Node for comparing different normal filters performances. More...

Namespaces
	bicubic
	bicubic_conv
	internal

Classes
class	BufferNormalizerFilter
class	BufferRegion
class	CircleIterator
struct	Clamp
union	Color
class	ColorBlendingFilter
class	ColorFillFilter
class	ColorMapFilter
class	CurvatureFilter
class	DeletionFilter
class	DuplicationFilter
class	EllipseIterator
class	GridMap
class	GridMapCvConverter
class	GridMapCvProcessing
class	GridMapIterator
class	GridMapOctomapConverter
class	GridMapRosConverter
class	InpaintFilter
class	LightIntensityFilter
class	LineIterator
class	MathExpressionFilter
class	MeanInRadiusFilter
class	MedianFillFilter
class	MinInRadiusFilter
class	MockFilter
class	NormalColorMapFilter
class	NormalVectorsFilter
class	Polygon
class	PolygonIterator
class	PolygonRosConverter
class	SetBasicLayersFilter
class	SlidingWindowIterator
class	SlidingWindowMathExpressionFilter
class	SpiralIterator
class	SubmapGeometry
class	SubmapIterator
class	ThresholdFilter

Typedefs
typedef Matrix::Scalar	DataType
typedef Matrix::Scalar	DataType
typedef Matrix::Scalar	DataType
typedef Matrix::Scalar	DataType
typedef Matrix::Scalar	DataType
typedef Matrix::Scalar	DataType
typedef Matrix::Scalar	DataType
typedef Matrix::Scalar	DataType
typedef Matrix::Scalar	DataType
typedef Eigen::Matrix4d	FunctionValueMatrix
typedef Eigen::Matrix4d	FunctionValueMatrix
typedef Eigen::Matrix4d	FunctionValueMatrix
typedef Eigen::Matrix4d	FunctionValueMatrix
typedef Eigen::Matrix4d	FunctionValueMatrix
typedef Eigen::Matrix4d	FunctionValueMatrix
typedef Eigen::Matrix4d	FunctionValueMatrix
typedef Eigen::Matrix4d	FunctionValueMatrix
typedef Eigen::Matrix4d	FunctionValueMatrix
typedef Eigen::Array2i	Index
typedef Eigen::Array2i	Index
typedef Eigen::Array2i	Index
typedef Eigen::Array2i	Index
typedef Eigen::Array2i	Index
typedef Eigen::Array2i	Index
typedef Eigen::Array2i	Index
typedef Eigen::Array2i	Index
typedef Eigen::Array2i	Index
typedef Eigen::Array2d	Length
typedef Eigen::Array2d	Length
typedef Eigen::Array2d	Length
typedef Eigen::Array2d	Length
typedef Eigen::Array2d	Length
typedef Eigen::Array2d	Length
typedef Eigen::Array2d	Length
typedef Eigen::Array2d	Length
typedef Eigen::Array2d	Length
typedef Eigen::MatrixXf	Matrix
typedef Eigen::MatrixXf	Matrix
typedef Eigen::MatrixXf	Matrix
typedef Eigen::MatrixXf	Matrix
typedef Eigen::MatrixXf	Matrix
typedef Eigen::MatrixXf	Matrix
typedef Eigen::MatrixXf	Matrix
typedef Eigen::MatrixXf	Matrix
typedef Eigen::MatrixXf	Matrix
typedef Eigen::Vector2d	Position
typedef Eigen::Vector2d	Position
typedef Eigen::Vector2d	Position
typedef Eigen::Vector2d	Position
typedef Eigen::Vector2d	Position
typedef Eigen::Vector2d	Position
typedef Eigen::Vector2d	Position
typedef Eigen::Vector2d	Position
typedef Eigen::Vector2d	Position
typedef Eigen::Vector3d	Position3
typedef Eigen::Vector3d	Position3
typedef Eigen::Vector3d	Position3
typedef Eigen::Vector3d	Position3
typedef Eigen::Vector3d	Position3
typedef Eigen::Vector3d	Position3
typedef Eigen::Vector3d	Position3
typedef Eigen::Vector3d	Position3
typedef Eigen::Vector3d	Position3
typedef Eigen::Array2i	Size
typedef Eigen::Array2i	Size
typedef Eigen::Array2i	Size
typedef Eigen::Array2i	Size
typedef Eigen::Array2i	Size
typedef Eigen::Array2i	Size
typedef Eigen::Array2i	Size
typedef Eigen::Array2i	Size
typedef Eigen::Array2i	Size
typedef uint64_t	Time
typedef uint64_t	Time
typedef uint64_t	Time
typedef uint64_t	Time
typedef uint64_t	Time
typedef uint64_t	Time
typedef uint64_t	Time
typedef uint64_t	Time
typedef uint64_t	Time
typedef Eigen::Vector2d	Vector
typedef Eigen::Vector2d	Vector
typedef Eigen::Vector2d	Vector
typedef Eigen::Vector2d	Vector
typedef Eigen::Vector2d	Vector
typedef Eigen::Vector2d	Vector
typedef Eigen::Vector2d	Vector
typedef Eigen::Vector2d	Vector
typedef Eigen::Vector2d	Vector
typedef Eigen::Vector3d	Vector3
typedef Eigen::Vector3d	Vector3
typedef Eigen::Vector3d	Vector3
typedef Eigen::Vector3d	Vector3
typedef Eigen::Vector3d	Vector3
typedef Eigen::Vector3d	Vector3
typedef Eigen::Vector3d	Vector3
typedef Eigen::Vector3d	Vector3
typedef Eigen::Vector3d	Vector3

Enumerations
enum	InterpolationMethods { InterpolationMethods::INTER_NEAREST, InterpolationMethods::INTER_LINEAR, InterpolationMethods::INTER_CUBIC_CONVOLUTION, InterpolationMethods::INTER_CUBIC }
enum	InterpolationMethods { InterpolationMethods::INTER_NEAREST, InterpolationMethods::INTER_LINEAR, InterpolationMethods::INTER_CUBIC_CONVOLUTION, InterpolationMethods::INTER_CUBIC }
enum	InterpolationMethods { InterpolationMethods::INTER_NEAREST, InterpolationMethods::INTER_LINEAR, InterpolationMethods::INTER_CUBIC_CONVOLUTION, InterpolationMethods::INTER_CUBIC }
enum	InterpolationMethods { InterpolationMethods::INTER_NEAREST, InterpolationMethods::INTER_LINEAR, InterpolationMethods::INTER_CUBIC_CONVOLUTION, InterpolationMethods::INTER_CUBIC }
enum	InterpolationMethods { InterpolationMethods::INTER_NEAREST, InterpolationMethods::INTER_LINEAR, InterpolationMethods::INTER_CUBIC_CONVOLUTION, InterpolationMethods::INTER_CUBIC }
enum	InterpolationMethods { InterpolationMethods::INTER_NEAREST, InterpolationMethods::INTER_LINEAR, InterpolationMethods::INTER_CUBIC_CONVOLUTION, InterpolationMethods::INTER_CUBIC }
enum	InterpolationMethods { InterpolationMethods::INTER_NEAREST, InterpolationMethods::INTER_LINEAR, InterpolationMethods::INTER_CUBIC_CONVOLUTION, InterpolationMethods::INTER_CUBIC }
enum	InterpolationMethods { InterpolationMethods::INTER_NEAREST, InterpolationMethods::INTER_LINEAR, InterpolationMethods::INTER_CUBIC_CONVOLUTION, InterpolationMethods::INTER_CUBIC }
enum	InterpolationMethods { InterpolationMethods::INTER_NEAREST, InterpolationMethods::INTER_LINEAR, InterpolationMethods::INTER_CUBIC_CONVOLUTION, InterpolationMethods::INTER_CUBIC }
enum	StorageIndices { StorageIndices::Column, StorageIndices::Row }
enum	StorageIndices { StorageIndices::Column, StorageIndices::Row }

Functions
void	assertEqual (const M1 &A, const M2 &B, std::string const &message="")
void	assertFinite (const M1 &A, std::string const &message="")
void	assertNear (const M1 &A, const M2 &B, T tolerance, std::string const &message="")
unsigned int	bindIndexToRange (int idReq, unsigned int nElem)
void	boundIndexToRange (Index &index, const Size &bufferSize)
void	boundIndexToRange (int &index, const int &bufferSize)
void	boundPositionToRange (Position &position, const Length &mapLength, const Position &mapPosition)
bool	checkIfIndexInRange (const Index &index, const Size &bufferSize)
bool	checkIfPositionWithinMap (const Position &position, const Length &mapLength, const Position &mapPosition)
bool	colorValueToVector (const unsigned long &colorValue, Eigen::Vector3i &colorVector)
bool	colorValueToVector (const unsigned long &colorValue, Eigen::Vector3f &colorVector)
bool	colorValueToVector (const float &colorValue, Eigen::Vector3f &colorVector)
bool	colorVectorToValue (const Eigen::Vector3i &colorVector, unsigned long &colorValue)
void	colorVectorToValue (const Eigen::Vector3i &colorVector, float &colorValue)
void	colorVectorToValue (const Eigen::Vector3f &colorVector, float &colorValue)
bool	compareRelative (double a, double b, double percentTolerance, double *percentError=NULL)
void	expectNear (const M1 &A, const M2 &B, T tolerance, std::string const &message="")
Index	getBufferIndexFromIndex (const Index &index, const Size &bufferSize, const Index &bufferStartIndex)
const Eigen::Matrix2i	getBufferOrderToMapFrameAlignment ()
bool	getBufferRegionsForSubmap (std::vector< BufferRegion > &submapBufferRegions, const Index &submapIndex, const Size &submapBufferSize, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
unsigned int	getCols (const MultiArrayMessageType_ &message)
Index	getIndexFromBufferIndex (const Index &bufferIndex, const Size &bufferSize, const Index &bufferStartIndex)
Index	getIndexFromLinearIndex (const size_t linearIndex, const Size &bufferSize, const bool rowMajor=false)
bool	getIndexFromPosition (Index &index, const Position &position, const Length &mapLength, const Position &mapPosition, const double &resolution, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
bool	getIndexShiftFromPositionShift (Index &indexShift, const Vector &positionShift, const double &resolution)
double	getLayerValue (const Matrix &layerMat, int rowReq, int colReq)
size_t	getLinearIndexFromIndex (const Index &index, const Size &bufferSize, const bool rowMajor=false)
bool	getPositionFromIndex (Position &position, const Index &index, const Length &mapLength, const Position &mapPosition, const double &resolution, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
void	getPositionOfDataStructureOrigin (const Position &position, const Length &mapLength, Position &positionOfOrigin)
bool	getPositionShiftFromIndexShift (Vector &positionShift, const Index &indexShift, const double &resolution)
unsigned int	getRows (const MultiArrayMessageType_ &message)
bool	getSubmapInformation (Index &submapTopLeftIndex, Size &submapBufferSize, Position &submapPosition, Length &submapLength, Index &requestedIndexInSubmap, const Position &requestedSubmapPosition, const Length &requestedSubmapLength, const Length &mapLength, const Position &mapPosition, const double &resolution, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
Size	getSubmapSizeFromCornerIndeces (const Index &topLeftIndex, const Index &bottomRightIndex, const Size &bufferSize, const Index &bufferStartIndex)
bool	incrementIndex (Index &index, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
bool	incrementIndexForSubmap (Index &submapIndex, Index &index, const Index &submapTopLeftIndex, const Size &submapBufferSize, const Size &bufferSize, const Index &bufferStartIndex=Index::Zero())
bool	isRowMajor (const MultiArrayMessageType_ &message)
void	mapAddNoise (grid_map::GridMap &map, const grid_map::Size &gridMapSize, const double &noise_on_map)
void	mapAddOutliers (grid_map::GridMap &map, const grid_map::Size &gridMapSize, const double outlierPercentage)
void	mapAverageFiltering (grid_map::GridMap &map, const grid_map::Size &gridMapSize, const double filterRadius)
bool	matrixEigenCopyToMultiArrayMessage (const EigenType_ &e, MultiArrayMessageType_ &m)
bool	multiArrayMessageCopyToMatrixEigen (const MultiArrayMessageType_ &m, EigenType_ &e)
bool	multiArrayMessageMapToMatrixEigen (MultiArrayMessageType_ &m, EigenType_ &e)
int	nDimensions ()
void	normalsErrorCalculation (grid_map::GridMap &map, const grid_map::Size &gridMapSize, double &directionalErrorAreaSum, double &directionalErrorRasterSum)
Eigen::Matrix< double, N, N >	randomCovariance ()
Eigen::MatrixXd	randomCovarianceXd (int N)
void	wrapIndexToRange (int &index, int bufferSize)
void	wrapIndexToRange (Index &index, const Size &bufferSize)

Variables
	INTER_CUBIC
	INTER_CUBIC
	INTER_CUBIC
	INTER_CUBIC
	INTER_CUBIC
	INTER_CUBIC_CONVOLUTION
	INTER_CUBIC_CONVOLUTION
	INTER_CUBIC_CONVOLUTION
	INTER_CUBIC_CONVOLUTION
	INTER_CUBIC_CONVOLUTION
	INTER_LINEAR
	INTER_LINEAR
	INTER_LINEAR
	INTER_LINEAR
	INTER_LINEAR
	INTER_NEAREST
	INTER_NEAREST
	INTER_NEAREST
	INTER_NEAREST
	INTER_NEAREST
std::map< StorageIndices, std::string >	storageIndexNames
std::map< StorageIndices, std::string >	storageIndexNames

Detailed Description

Node for comparing different normal filters performances.

Authors

Peter Fankhauser, Simone Arreghini ANYbotics

Function Documentation

void grid_map::mapAddNoise	(	grid_map::GridMap &	map,
		const grid_map::Size &	gridMapSize,
		const double &	noise_on_map
	)

Function to add noise to the elevation map. Noise added is white noise from a uniform distribution [-1:1] multiplied by the amount of noise wanted specified by noise_on_map.

Parameters

map	grid map to which add the layers that contains the errors.
gridMapSize	Dimensions of grid map, passed as parameter to not being calculated every time.
noise_on_map	Amount of noise wanted in meters, can be set as an argument in the roslaunch phase.

Definition at line 236 of file normal_filter_comparison_node.cpp.

void grid_map::mapAddOutliers	(	grid_map::GridMap &	map,
		const grid_map::Size &	gridMapSize,
		const double	outlierPercentage
	)

Function to add outliers to the elevation map. Outliers are point where the elevation value is set to infinity. It has to be performed after mapAddNoise.

Parameters

map	grid map to which add the layers that contains the errors.
gridMapSize	Dimensions of grid map, passed as parameter to not being calculated every time.
outlierPercentage	Amount of outliers wanted percentage, can be set as an argument in the roslaunch phase.

Definition at line 242 of file normal_filter_comparison_node.cpp.

void grid_map::mapAverageFiltering	(	grid_map::GridMap &	map,
		const grid_map::Size &	gridMapSize,
		const double	filterRadius
	)

Function to add outliers to the elevation map. Outliers are point where the elevation value is set to infinity. It has to be performed after mapAddNoise.

Parameters

map	grid map to which add the layers that contains the errors.
gridMapSize	Dimensions of grid map, passed as parameter to not being calculated every time.
filterRadius	Radius of the wanted shifting average filter.

Definition at line 254 of file normal_filter_comparison_node.cpp.

void grid_map::normalsErrorCalculation	(	grid_map::GridMap &	map,
		const grid_map::Size &	gridMapSize,
		double &	directionalErrorAreaSum,
		double &	directionalErrorRasterSum
	)

Function to calculate the normal vector computation error.Error is defined as sum over the map of absolute cosines between analytical and computed normals. The cosines are calculated using the dot product between two unitary vectors. The error sum is then averaged between the latest 20 iteration of the functions.

Parameters

map	grid map to which add the layers that contains the errors.
gridMapSize	Dimensions of grid map, passed as parameter to not being calculated every time.
directionalErrorAreaSum	Average of the summed error over the map for area method.
directionalErrorRasterSum	Average of the summed error over the map for raster method.

Definition at line 181 of file normal_filter_comparison_node.cpp.