karto::CorrelationGrid Class Reference

#include <Mapper.h>

Inheritance diagram for karto::CorrelationGrid:

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 ()
Public Member Functions inherited from karto::Grid< kt_int8u >
void	Clear ()
Grid *	Clone ()
BoundingBox2	GetBoundingBox () const
CoordinateConverter *	GetCoordinateConverter () const
kt_int8u *	GetDataPointer (const Vector2< kt_int32s > &rGrid)
kt_int8u *	GetDataPointer (const Vector2< kt_int32s > &rGrid) const
kt_int8u *	GetDataPointer ()
kt_int8u *	GetDataPointer () const
kt_int32s	GetDataSize () const
kt_int32s	GetHeight () const
kt_double	GetResolution () const
const Size2< kt_int32s >	GetSize () const
kt_int8u	GetValue (const Vector2< kt_int32s > &rGrid) const
kt_int32s	GetWidth () const
kt_int32s	GetWidthStep () const
Vector2< kt_double >	GridToWorld (const Vector2< kt_int32s > &rGrid, kt_bool flipY=false) const
Vector2< kt_int32s >	IndexToGrid (kt_int32s index) const
kt_bool	IsValidGridIndex (const Vector2< kt_int32s > &rGrid) const
virtual void	Resize (kt_int32s width, kt_int32s height)
void	TraceLine (kt_int32s x0, kt_int32s y0, kt_int32s x1, kt_int32s y1, Functor *f=NULL)
Vector2< kt_int32s >	WorldToGrid (const Vector2< kt_double > &rWorld, kt_bool flipY=false) const
virtual	~Grid ()

Static Public Member Functions
static CorrelationGrid *	CreateGrid (kt_int32s width, kt_int32s height, kt_double resolution, kt_double smearDeviation)
Static Public Member Functions inherited from karto::Grid< kt_int8u >
static Grid *	CreateGrid (kt_int32s width, kt_int32s height, kt_double resolution)

Protected Member Functions
virtual void	CalculateKernel ()
	CorrelationGrid (kt_int32u width, kt_int32u height, kt_int32u borderSize, kt_double resolution, kt_double smearDeviation)
Protected Member Functions inherited from karto::Grid< kt_int8u >
	Grid (kt_int32s width, kt_int32s height)

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.

Constructor & Destructor Documentation

virtual karto::CorrelationGrid::~CorrelationGrid ( )

inlinevirtual

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  )

inlineprotected

Constructs a correlation grid of given size and parameters

Parameters

width
height
borderSize
resolution
smearDeviation

Definition at line 909 of file Mapper.h.

Member Function Documentation

virtual void karto::CorrelationGrid::CalculateKernel ( )

inlineprotectedvirtual

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  )

inlinestatic

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  )

inlinestaticprotected

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

inlinevirtual

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.

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