#include <MedianFillFilter.hpp>

Inheritance diagram for grid_map::MedianFillFilter< T >:

Public Member Functions
virtual bool	configure ()

	MedianFillFilter ()

virtual bool	update (const T &mapIn, T &mapOut)

virtual	~MedianFillFilter ()

Public Member Functions inherited from filters::FilterBase< T >
bool	configure (const std::string &param_name, ros::NodeHandle node_handle=ros::NodeHandle())

bool	configure (XmlRpc::XmlRpcValue &config)

	FilterBase ()

const std::string &	getName ()

std::string	getType ()

virtual	~FilterBase ()

Protected Member Functions
void	addCvMatAsLayer (T &gridMap, const cv::Mat &cvLayer, const std::string &layerName)

cv::Mat_< bool >	cleanedMask (const cv::Mat_< bool > &inputMask)

Eigen::MatrixXf	computeAndAddFillMask (const Eigen::MatrixXf &inputMap, T &mapOut)

cv::Mat_< bool >	fillHoles (const cv::Mat_< bool > &isValidMask, const size_t numDilationClosingIterations)

float	getMedian (Eigen::Ref< const grid_map::Matrix > inputMap, const grid_map::Index &centerIndex, const size_t radiusInPixels, const grid_map::Size bufferSize)

Protected Member Functions inherited from filters::FilterBase< T >
bool	getParam (const std::string &name, std::string &value)

bool	getParam (const std::string &name, XmlRpc::XmlRpcValue &value)

bool	getParam (const std::string &name, double &value)

bool	getParam (const std::string &name, std::vector< double > &value)

bool	getParam (const std::string &name, unsigned int &value)

bool	getParam (const std::string &name, int &value)

bool	getParam (const std::string &name, std::vector< std::string > &value)

bool	getParam (const std::string &name, bool &value)

bool	loadConfiguration (XmlRpc::XmlRpcValue &config)

Private Attributes
bool	debug_
	If set, the filtered grid_map is augmented with additional debug layers. More...

std::string	debugInfillMaskLayer_ = "debug_infill_mask"
	Layer used to visualize the intermediate, sparse outlier removed fill mask. More...

double	existingValueRadius_
	Median filtering radius for existing values in the input. More...

double	fillHoleRadius_
	Median filtering radius of NaN values in the input. More...

std::string	fillMaskLayer_ = "should_fill"
	Layer containing indicating which areas to fill, will be computed if not present. More...

bool	filterExistingValues_
	Flag indicating whether to also filter finite values. More...

std::string	inputLayer_
	Input layer name. More...

std::string	outputLayer_
	Output layer name. More...

Additional Inherited Members
Protected Attributes inherited from filters::FilterBase< T >
bool	configured_

std::string	filter_name_

std::string	filter_type_

string_map_t	params_

Detailed Description

template<typename T>
class grid_map::MedianFillFilter< T >

Uses std::nth_element to fill holes in the input layer by the median of the surrounding values. The result is put into the output_layer. Note: Only values for which the fill_layer is true will be filled. The fill_layer is auto computed if not present in the input.

Definition at line 26 of file MedianFillFilter.hpp.

Constructor & Destructor Documentation

template<typename T >

grid_map::MedianFillFilter< T >::MedianFillFilter ( )

Constructor

Definition at line 28 of file MedianFillFilter.cpp.

template<typename T >

grid_map::MedianFillFilter< T >::~MedianFillFilter ( )

virtualdefault

Destructor.

Member Function Documentation

template<typename T >

void grid_map::MedianFillFilter< T >::addCvMatAsLayer	(	T &	gridMap,
		const cv::Mat &	cvLayer,
		const std::string &	layerName
	)

protected

Adds a float cv matrix as layer to a given map.

Parameters

[in,out]	gridMap	The map to add the layer.
[in]	cvLayer	The cv matrix to add.
[in]	layerName	The layer name

Definition at line 247 of file MedianFillFilter.cpp.

template<typename T >

cv::Mat_< bool > grid_map::MedianFillFilter< T >::cleanedMask ( const cv::Mat_< bool > & inputMask )

protected

Remove sparse valid regions by morphological opening.

Remarks: Check https://docs.opencv.org/master/d9/d61/tutorial_py_morphological_ops.html for more information about the opening operation.

Parameters

inputMask Initial mask possibly containing also sparse valid regions that will be removed.

Returns: An opencv mask of the same size as input mask with small sparse valid regions removed.

Definition at line 216 of file MedianFillFilter.cpp.

template<typename T >

Eigen::MatrixXf grid_map::MedianFillFilter< T >::computeAndAddFillMask	(	const Eigen::MatrixXf &	inputMap,
		T &	mapOut
	)

protected

Computes a mask of which cells to fill-in based on the validity of input cells. I.e small holes between (and including) valid cells are marked to be filled.

Remarks: The returned fill_mask is also added as layer to the output to be reused in following iterations of this filter. If debug is enabled, an intermediate mask is added as layer to the output grid map.

Parameters

inputMap	The input layer, used to check which cells contain valid values.
mapOut	The output GridMap will contain the additional fill_mask layer afterwards.

Returns: An eigen mask indicating which cells should be filled by the median filter.

Definition at line 191 of file MedianFillFilter.cpp.

template<typename T >

bool grid_map::MedianFillFilter< T >::configure ( )

virtual

Configures the filter from parameters on the Parameter Server

Implements filters::FilterBase< T >.

Definition at line 34 of file MedianFillFilter.cpp.

template<typename T >

cv::Mat_< bool > grid_map::MedianFillFilter< T >::fillHoles	(	const cv::Mat_< bool > &	isValidMask,
		const size_t	numDilationClosingIterations
	)

protected

Performs morphological closing on a boolean cv matrix mask.

Parameters

[in]	isValidMask	A 2d mask where holes up to a certain size will be filled.
[in]	numDilationClosingIterations	Algorithm specific parameter. Higher means that bigger holes will still be filled.

Returns: A mask of the same size as isValidMask but with small holes filled.

Definition at line 231 of file MedianFillFilter.cpp.

template<typename T >

float grid_map::MedianFillFilter< T >::getMedian	(	Eigen::Ref< const grid_map::Matrix >	inputMap,
		const grid_map::Index &	centerIndex,
		const size_t	radiusInPixels,
		const grid_map::Size	bufferSize
	)

protected

Returns the median of the values in inputData in the neighbourhood around the centerIndex. The size of the quadratic neighbourhood is specified by radiusInPixels. If the number of values is even the "lower center" value is taken, eg with four values the second lowest is taken as median.

Parameters

inputMap	The data layer to compute a local median.
centerIndex	The center cell of the neighbourhood.
radiusInPixels	The maximum L_inf distance from index.
bufferSize	The buffer size of the input

Returns: The median of finites in the specified neighbourhood.

Definition at line 155 of file MedianFillFilter.cpp.

template<typename T >

bool grid_map::MedianFillFilter< T >::update	(	const T &	mapIn,
		T &	mapOut
	)

virtual

Adds a new output layer to the map. Uses the Boost accumulator median in the input layer. Saves the filter output in mapOut[output_layer].

Parameters

mapIn	grid map containing input layer
mapOut	grid map containing mapIn and median filtered input layer.

Implements filters::FilterBase< T >.

Definition at line 107 of file MedianFillFilter.cpp.

Member Data Documentation

template<typename T >

bool grid_map::MedianFillFilter< T >::debug_

private

If set, the filtered grid_map is augmented with additional debug layers.

Definition at line 126 of file MedianFillFilter.hpp.

template<typename T >

std::string grid_map::MedianFillFilter< T >::debugInfillMaskLayer_ = "debug_infill_mask"

private

Layer used to visualize the intermediate, sparse outlier removed fill mask.

Definition at line 123 of file MedianFillFilter.hpp.

template<typename T >

double grid_map::MedianFillFilter< T >::existingValueRadius_

private

Median filtering radius for existing values in the input.

Definition at line 108 of file MedianFillFilter.hpp.

template<typename T >

double grid_map::MedianFillFilter< T >::fillHoleRadius_

private

Median filtering radius of NaN values in the input.

Definition at line 105 of file MedianFillFilter.hpp.

template<typename T >

std::string grid_map::MedianFillFilter< T >::fillMaskLayer_ = "should_fill"

private

Layer containing indicating which areas to fill, will be computed if not present.

Definition at line 120 of file MedianFillFilter.hpp.

template<typename T >

bool grid_map::MedianFillFilter< T >::filterExistingValues_

private

Flag indicating whether to also filter finite values.

Definition at line 111 of file MedianFillFilter.hpp.

template<typename T >

std::string grid_map::MedianFillFilter< T >::inputLayer_

private

Input layer name.

Definition at line 114 of file MedianFillFilter.hpp.

template<typename T >

std::string grid_map::MedianFillFilter< T >::outputLayer_

private

Output layer name.

Definition at line 117 of file MedianFillFilter.hpp.

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

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<typename T> class grid_map::MedianFillFilter< T >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename T>
class grid_map::MedianFillFilter< T >