Public Member Functions | Static Public Member Functions | Protected Member Functions | Static Protected Member Functions | Private Attributes
karto::CorrelationGrid Class Reference

#include <Mapper.h>

Inheritance diagram for karto::CorrelationGrid:
Inheritance graph
[legend]

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 CorrelationGridCreateGrid (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_int8um_pKernel
Rectangle2< kt_int32sm_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 ( ) [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.


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.

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.


Member Data Documentation

Definition at line 1006 of file Mapper.h.

Definition at line 1009 of file Mapper.h.

Definition at line 1012 of file Mapper.h.

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.


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


open_karto
Author(s):
autogenerated on Thu Jun 6 2019 21:02:57