karto::CorrelationGrid Class Reference

#include <OpenMapper.h>

Inheritance diagram for karto::CorrelationGrid:

Protected Member Functions
virtual void	CalculateKernel ()
	CorrelationGrid (kt_int32u width, kt_int32u height, kt_int32u borderSize, kt_double resolution, kt_double smearDeviation)
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)
Protected Member Functions inherited from karto::Grid< kt_int8u >
void	Clear ()
Grid *	Clone ()
BoundingBox2	GetBoundingBox () const
CoordinateConverter *	GetCoordinateConverter () const
kt_int8u *	GetDataPointer (const Vector2i &rGrid)
kt_int8u *	GetDataPointer (const Vector2i &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 Vector2i &rGrid) const
kt_int32s	GetWidth () const
kt_int32s	GetWidthStep () const
	Grid (kt_int32s width, kt_int32s height)
Vector2d	GridToWorld (const Vector2i &rGrid, kt_bool flipY=false) const
Vector2i	IndexToGrid (kt_int32s index) const
kt_bool	IsValidGridIndex (const Vector2i &rGrid) const
virtual void	Resize (kt_int32s width, kt_int32s height)
void	SetValue (const Vector2i &rGrid, kt_int8urValue) const
void	TraceLine (kt_int32s x0, kt_int32s y0, kt_int32s x1, kt_int32s y1, Functor *f=NULL)
Vector2i	WorldToGrid (const Vector2d &rWorld, kt_bool flipY=false) const
Protected Member Functions inherited from karto::Object
const Identifier &	GetIdentifier () const
AbstractParameter *	GetParameter (const String &rParameterName) const
template<typename T >
Parameter< T > *	GetParameter (const String &rParameterName) const
ParameterList	GetParameters ()
ParameterSet *	GetParameterSet ()
template<typename T >
void	SetParameters (const karto::String &rParameterName, const T &rValue)
Protected Member Functions inherited from karto::Referenced
kt_int32s	GetReferenceCount ()
kt_int32s	Reference () const
kt_int32s	Unreference () const
kt_int32s	UnreferenceNoDelete () const

Static Protected Member Functions
static CorrelationGrid *	CreateGrid (kt_int32s width, kt_int32s height, kt_double resolution, kt_double smearDeviation)
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

Additional Inherited Members
Public Member Functions inherited from karto::Object
	Object ()
	Object (const Identifier &rIdentifier)
Public Member Functions inherited from karto::Referenced
	Referenced ()
Static Public Member Functions inherited from karto::Grid< kt_int8u >
static Grid *	CreateGrid (kt_int32s width, kt_int32s height, kt_double resolution)

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  )

inlineprotected

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.

Member Function Documentation

virtual void karto::CorrelationGrid::CalculateKernel ( )

inlineprotectedvirtual

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  )

inlinestaticprotected

public: /** 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  )

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	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

inlineprotected

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

inlineprotectedvirtual

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 )

inlineprotected

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  )

inlineprivate

Definition at line 1008 of file OpenMapper.h.

void karto::CorrelationGrid::SmearPoint ( const Vector2i &  rGridPoint )

inlineprotected

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.

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