A class for storing an occupancy grid map.
COccupancyGridMap2D is a class for storing a metric map representation in the form of a probabilistic occupancy grid map: value of 0 means certainly occupied, 1 means a certainly empty cell. Initially 0.5 means uncertainty.
The cells keep the log-odd representation of probabilities instead of the probabilities themselves. More details can be found at http://www.mrpt.org/Occupancy_Grids
The algorithm for updating the grid from a laser scanner can optionally take into account the progressive widening of the beams, as described in the wiki (this feature was introduced in MRPT 0.6.4).
Some implemented methods are:
Definition at line 111 of file COccupancyGridMap2D.h.
#include <mrpt/slam/COccupancyGridMap2D.h>
Classes | |
struct | TCriticalPointsList |
The structure used to store the set of Voronoi diagram critical points. More... | |
struct | TEntropyInfo |
Used for returning entropy related information. More... | |
class | TInsertionOptions |
With this struct options are provided to the observation insertion process. More... | |
class | TLikelihoodOptions |
With this struct options are provided to the observation likelihood computation process. More... | |
class | TLikelihoodOutput |
Some members of this struct will contain intermediate or output data after calling "computeObservationLikelihood" for some likelihood functions. More... | |
struct | TUpdateCellsInfoChangeOnly |
An internal structure for storing data related to counting the new information apported by some observation. More... | |
Public Types | |
enum | TLikelihoodMethod { lmMeanInformation = 0, lmRayTracing, lmConsensus, lmCellsDifference, lmLikelihoodField_Thrun, lmLikelihoodField_II, lmConsensusOWA } |
The type for selecting a likelihood computation method. More... | |
typedef std::pair< double, CPoint2D > | TPairLikelihoodIndex |
Auxiliary private class. | |
Public Member Functions | |
void | updateCell (int x, int y, float v) |
Performs the Bayesian fusion of a new observation of a cell. | |
COccupancyGridMap2D (float min_x=-20.0f, float max_x=20.0f, float min_y=-20.0f, float max_y=20.0f, float resolution=0.05f) | |
Constructor. | |
void | fill (float default_value=0.5f) |
Fills all the cells with a default value. | |
virtual | ~COccupancyGridMap2D () |
Destructor. | |
void | setSize (float x_min, float x_max, float y_min, float y_max, float resolution, float default_value=0.5f) |
Change the size of gridmap, erasing all its previous contents. | |
void | resizeGrid (float new_x_min, float new_x_max, float new_y_min, float new_y_max, float new_cells_default_value=0.5f, bool additionalMargin=true) MRPT_NO_THROWS |
Change the size of gridmap, maintaining previous contents. | |
double | getArea () const |
Returns the area of the gridmap, in square meters. | |
unsigned int | getSizeX () const |
Returns the horizontal size of grid map in cells count. | |
unsigned int | getSizeY () const |
Returns the vertical size of grid map in cells count. | |
float | getXMin () const |
Returns the "x" coordinate of left side of grid map. | |
float | getXMax () const |
Returns the "x" coordinate of right side of grid map. | |
float | getYMin () const |
Returns the "y" coordinate of top side of grid map. | |
float | getYMax () const |
Returns the "y" coordinate of bottom side of grid map. | |
float | getResolution () const |
Returns the resolution of the grid map. | |
int | x2idx (float x) const |
Transform a coordinate value into a cell index. | |
int | y2idx (float y) const |
int | x2idx (double x) const |
int | y2idx (double y) const |
float | idx2x (const size_t cx) const |
Transform a cell index into a coordinate value. | |
float | idx2y (const size_t cy) const |
int | x2idx (float x, float x_min) const |
Transform a coordinate value into a cell index, using a diferent "x_min" value. | |
int | y2idx (float y, float y_min) const |
void | setCell (int x, int y, float value) |
Change the contents [0,1] of a cell, given its index. | |
float | getCell (int x, int y) const |
Read the real valued [0,1] contents of a cell, given its index. | |
cellType * | getRow (int cy) |
Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally. | |
const cellType * | getRow (int cy) const |
Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally. | |
void | setPos (float x, float y, float value) |
Change the contents [0,1] of a cell, given its coordinates. | |
float | getPos (float x, float y) const |
Read the real valued [0,1] contents of a cell, given its coordinates. | |
bool | isStaticPos (float x, float y, float threshold=0.7f) const |
Returns "true" if cell is "static", i.e.if its occupancy is below a given threshold. | |
bool | isStaticCell (int cx, int cy, float threshold=0.7f) const |
void | setBasisCell (int x, int y, uint8_t value) |
Change a cell in the "basis" maps.Used for Voronoi calculation. | |
unsigned char | getBasisCell (int x, int y) const |
Reads a cell in the "basis" maps.Used for Voronoi calculation. | |
void | subSample (int downRatio) |
Performs a downsampling of the gridmap, by a given factor: resolution/=ratio. | |
void | computeEntropy (TEntropyInfo &info) const |
Computes the entropy and related values of this grid map. | |
int | computeClearance (int cx, int cy, int *basis_x, int *basis_y, int *nBasis, bool GetContourPoint=false) const |
Compute the clearance of a given cell, and returns its two first basis (closest obstacle) points.Used to build Voronoi and critical points. | |
float | computeClearance (float x, float y, float maxSearchDistance) const |
An alternative method for computing the clearance of a given location (in meters). | |
float | computePathCost (float x1, float y1, float x2, float y2) const |
Compute the 'cost' of traversing a segment of the map according to the occupancy of traversed cells. | |
double | computeObservationLikelihood (const CObservation *obs, const CPose3D &takenFrom) |
Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map. | |
bool | canComputeObservationLikelihood (const CObservation *obs) |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. | |
double | computeLikelihoodField_Thrun (const CPointsMap *pm, const CPose2D *relativePose=NULL) |
Computes the likelihood [0,1] of a set of points, given the current grid map as reference. | |
double | computeLikelihoodField_II (const CPointsMap *pm, const CPose2D *relativePose=NULL) |
Computes the likelihood [0,1] of a set of points, given the current grid map as reference. | |
bool | saveAsBitmapFile (const std::string &file) const |
Saves the gridmap as a graphical file (BMP,PNG,...). | |
template<class CLANDMARKSMAP > | |
bool | saveAsBitmapFileWithLandmarks (const std::string &file, const CLANDMARKSMAP *landmarks, bool addTextLabels=false, const mrpt::utils::TColor &marks_color=mrpt::utils::TColor(0, 0, 255)) const |
Saves the gridmap as a graphical bitmap file, 8 bit gray scale, 1 pixel is 1 cell, and with an overlay of landmarks. | |
void | getAsImage (utils::CImage &img, bool verticalFlip=false, bool forceRGB=false, bool tricolor=false) const |
Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively. | |
void | getAsImageFiltered (utils::CImage &img, bool verticalFlip=false, bool forceRGB=false) const |
Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) - This method filters the image for easy feature detection If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively. | |
void | getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const |
Returns a 3D plane with its texture being the occupancy grid and transparency proportional to "uncertainty" (i.e. | |
bool | isEmpty () const |
Returns true upon map construction or after calling clear(), the return changes to false upon successful insertObservation() or any other method to load data in the map. | |
bool | loadFromBitmapFile (const std::string &file, float resolution, float xCentralPixel=-1, float yCentralPixel=-1) |
Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile). | |
bool | loadFromBitmap (const mrpt::utils::CImage &img, float resolution, float xCentralPixel=-1, float yCentralPixel=-1) |
Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile). | |
void | computeMatchingWith2D (const CMetricMap *otherMap, const CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPose2D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float *sumSqrDist=NULL, bool onlyKeepTheClosest=false, bool onlyUniqueRobust=false) const |
See the base class for more details: In this class it is implemented as correspondences of the passed points map to occupied cells. | |
float | compute3DMatchingRatio (const CMetricMap *otherMap, const CPose3D &otherMapPose, float minDistForCorr=0.10f, float minMahaDistForCorr=2.0f) const |
Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. | |
void | saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const |
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). | |
void | auxParticleFilterCleanUp () |
This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". | |
Sensor simulators | |
void | laserScanSimulator (CObservation2DRangeScan &inout_Scan, const CPose2D &robotPose, float threshold=0.5f, size_t N=361, float noiseStd=0, unsigned int decimation=1, float angleNoiseStd=DEG2RAD(0)) const |
Simulates a laser range scan into the current grid map. | |
void | sonarSimulator (CObservationRange &inout_observation, const CPose2D &robotPose, float threshold=0.5f, float rangeNoiseStd=0, float angleNoiseStd=DEG2RAD(0)) const |
Simulates the observations of a sonar rig into the current grid map. | |
void | simulateScanRay (const double x, const double y, const double angle_direction, float &out_range, bool &out_valid, const unsigned int max_ray_len, const float threshold_free=0.5f, const double noiseStd=0, const double angleNoiseStd=0) const |
Simulate just one "ray" in the grid map. | |
Static Public Member Functions | |
static void | updateCell_fast_occupied (const unsigned &x, const unsigned &y, const cellType &logodd_obs, const cellType &thres, cellType *mapArray, const unsigned &_size_x) |
Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. | |
static void | updateCell_fast_occupied (cellType *theCell, const cellType &logodd_obs, const cellType &thres) |
Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. | |
static void | updateCell_fast_free (const unsigned &x, const unsigned &y, const cellType &logodd_obs, const cellType &thres, cellType *mapArray, const unsigned &_size_x) |
Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. | |
static void | updateCell_fast_free (cellType *theCell, const cellType &logodd_obs, const cellType &thres) |
Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. | |
static float | l2p (const cellType &l) |
Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l)) | |
static uint8_t | l2p_255 (const cellType &l) |
Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l)) | |
static cellType | p2l (const float &p) |
Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cellType. | |
static bool | saveAsBitmapTwoMapsWithCorrespondences (const std::string &fileName, const COccupancyGridMap2D *m1, const COccupancyGridMap2D *m2, const TMatchingPairList &corrs) |
Saves a composite image with two gridmaps and lines representing a set of correspondences between them. | |
static bool | saveAsEMFTwoMapsWithCorrespondences (const std::string &fileName, const COccupancyGridMap2D *m1, const COccupancyGridMap2D *m2, const TMatchingPairList &corrs) |
Saves a composite image with two gridmaps and numbers for the correspondences between them. | |
Public Attributes | |
struct MAPS_IMPEXP mrpt::slam::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly | updateInfoChangeOnly |
TInsertionOptions | insertionOptions |
With this struct options are provided to the observation insertion process. | |
mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions | likelihoodOptions |
class mrpt::slam::COccupancyGridMap2D::TLikelihoodOutput | likelihoodOutputs |
struct MAPS_IMPEXP mrpt::slam::COccupancyGridMap2D::TCriticalPointsList | CriticalPointsList |
Protected Member Functions | |
virtual void | OnPostSuccesfulInsertObs (const CObservation *) |
See base class. | |
void | freeMap () |
Frees the dynamic memory buffers of map. | |
void | setCell_nocheck (int x, int y, float value) |
Change the contents [0,1] of a cell, given its index. | |
float | getCell_nocheck (int x, int y) const |
Read the real valued [0,1] contents of a cell, given its index. | |
void | setRawCell (unsigned int cellIndex, cellType b) |
Changes a cell by its absolute index (Do not use it normally) | |
double | computeObservationLikelihood_Consensus (const CObservation *obs, const CPose2D &takenFrom) |
One of the methods that can be selected for implementing "computeObservationLikelihood" (This method is the Range-Scan Likelihood Consensus for gridmaps, see the ICRA2007 paper by Blanco et al.) | |
double | computeObservationLikelihood_ConsensusOWA (const CObservation *obs, const CPose2D &takenFrom) |
One of the methods that can be selected for implementing "computeObservationLikelihood" TODO: This method is described in.... | |
double | computeObservationLikelihood_CellsDifference (const CObservation *obs, const CPose2D &takenFrom) |
One of the methods that can be selected for implementing "computeObservationLikelihood". | |
double | computeObservationLikelihood_MI (const CObservation *obs, const CPose2D &takenFrom) |
One of the methods that can be selected for implementing "computeObservationLikelihood". | |
double | computeObservationLikelihood_rayTracing (const CObservation *obs, const CPose2D &takenFrom) |
One of the methods that can be selected for implementing "computeObservationLikelihood". | |
double | computeObservationLikelihood_likelihoodField_Thrun (const CObservation *obs, const CPose2D &takenFrom) |
One of the methods that can be selected for implementing "computeObservationLikelihood". | |
double | computeObservationLikelihood_likelihoodField_II (const CObservation *obs, const CPose2D &takenFrom) |
One of the methods that can be selected for implementing "computeObservationLikelihood". | |
virtual void | internal_clear () |
Clear the map: It set all cells to their default occupancy value (0.5), without changing the resolution (the grid extension is reset to the default values). | |
virtual bool | internal_insertObservation (const CObservation *obs, const CPose3D *robotPose=NULL) |
Insert the observation information into this map. | |
Static Protected Member Functions | |
static double | H (double p) |
Entropy computation internal function: | |
Protected Attributes | |
std::vector< cellType > | map |
This is the buffer for storing the cells.In this dynamic size buffer are stored the cell values as "bytes", stored row by row, from left to right cells. | |
uint32_t | size_x |
The size of the grid in cells. | |
uint32_t | size_y |
float | x_min |
The limits of the grid in "units" (meters). | |
float | x_max |
float | y_min |
float | y_max |
float | resolution |
Cell size, i.e. | |
std::vector< double > | precomputedLikelihood |
These are auxiliary variables to speed up the computation of observation likelihood values for LF method among others, at a high cost in memory (see TLikelihoodOptions::enableLikelihoodCache). | |
bool | precomputedLikelihoodToBeRecomputed |
CDynamicGrid< uint8_t > | m_basis_map |
Used for Voronoi calculation.Same struct as "map", but contains a "0" if not a basis point. | |
CDynamicGrid< uint16_t > | m_voronoi_diagram |
Used to store the Voronoi diagram. | |
bool | m_is_empty |
True upon construction; used by isEmpty() | |
float | voroni_free_threshold |
The free-cells threshold used to compute the Voronoi diagram. | |
Static Protected Attributes | |
static std::vector< float > | entropyTable |
Internally used to speed-up entropy calculation. | |
static std::vector< float > | logoddsTable |
A lookup table to compute occupancy probabilities in [0,1] from integer log-odds values in the cells, using ![]() | |
static std::vector< uint8_t > | logoddsTable_255 |
A lookup table to compute occupancy probabilities in the range [0,255] from integer log-odds values in the cells, using ![]() | |
static float * | logoddsTablePtr |
A pointer to the vector logoddsTable. | |
static uint8_t * | logoddsTable_255Ptr |
A pointer to the vector logoddsTable_255. | |
static std::vector< cellType > | p2lTable |
A lookup table for passing from float to log-odds as cellType. | |
static cellType * | p2lTablePtr |
A pointer to the vector p2lTable. | |
Private Member Functions | |
unsigned char | GetNeighborhood (int cx, int cy) const |
Returns a byte with the occupancy of the 8 sorrounding cells. | |
int | direction2idx (int dx, int dy) |
Returns the index [0,7] of the given movement, or -1 if invalid one. | |
Private Attributes | |
int | direccion_vecino_x [8] |
Used to store the 8 possible movements from a cell to the sorrounding ones.Filled in the constructor. | |
int | direccion_vecino_y [8] |
Friends | |
class | CMultiMetricMap |
class | CMultiMetricMapPDF |
RTTI stuff | |
typedef COccupancyGridMap2DPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_COccupancyGridMap2D |
static mrpt::utils::TRuntimeClassId | classCOccupancyGridMap2D |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static COccupancyGridMap2DPtr | Create () |
Voronoi methods | |
void | buildVoronoiDiagram (float threshold, float robot_size, int x1=0, int x2=0, int y1=0, int y2=0) |
Build the Voronoi diagram of the grid map. | |
uint16_t | getVoroniClearance (int cx, int cy) const |
Reads a the clearance of a cell (in centimeters), after building the Voronoi diagram with buildVoronoiDiagram. | |
const CDynamicGrid< uint8_t > & | getBasisMap () const |
Return the auxiliary "basis" map built while building the Voronoi diagram. | |
const CDynamicGrid< uint16_t > & | getVoronoiDiagram () const |
Return the Voronoi diagram; each cell contains the distance to its closer obstacle, or 0 if not part of the Voronoi diagram. | |
void | findCriticalPoints (float filter_distance) |
Builds a list with the critical points from Voronoi diagram, which must must be built before calling this method. | |
void | setVoroniClearance (int cx, int cy, uint16_t dist) |
Used to set the clearance of a cell, while building the Voronoi diagram. |
A typedef for the associated smart pointer
Definition at line 114 of file COccupancyGridMap2D.h.
typedef std::pair<double,CPoint2D> mrpt::slam::COccupancyGridMap2D::TPairLikelihoodIndex |
Auxiliary private class.
Definition at line 807 of file COccupancyGridMap2D.h.
The type for selecting a likelihood computation method.
lmMeanInformation | |
lmRayTracing | |
lmConsensus | |
lmCellsDifference | |
lmLikelihoodField_Thrun | |
lmLikelihoodField_II | |
lmConsensusOWA |
Definition at line 696 of file COccupancyGridMap2D.h.
mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D | ( | float | min_x = -20.0f , |
float | max_x = 20.0f , |
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float | min_y = -20.0f , |
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float | max_y = 20.0f , |
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float | resolution = 0.05f |
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) |
Constructor.
virtual mrpt::slam::COccupancyGridMap2D::~COccupancyGridMap2D | ( | ) | [virtual] |
Destructor.
static const mrpt::utils::TRuntimeClassId* mrpt::slam::COccupancyGridMap2D::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::slam::CMetricMap.
void mrpt::slam::COccupancyGridMap2D::auxParticleFilterCleanUp | ( | ) | [virtual] |
This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".
This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.
Implements mrpt::slam::CMetricMap.
void mrpt::slam::COccupancyGridMap2D::buildVoronoiDiagram | ( | float | threshold, |
float | robot_size, | ||
int | x1 = 0 , |
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int | x2 = 0 , |
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int | y1 = 0 , |
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int | y2 = 0 |
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) |
Build the Voronoi diagram of the grid map.
threshold | The threshold for binarizing the map. |
robot_size | Size in "units" (meters) of robot, approx. |
x1 | Left coordinate of area to be computed. Default, entire map. |
x2 | Right coordinate of area to be computed. Default, entire map. |
y1 | Top coordinate of area to be computed. Default, entire map. |
y2 | Bottom coordinate of area to be computed. Default, entire map. |
bool mrpt::slam::COccupancyGridMap2D::canComputeObservationLikelihood | ( | const CObservation * | obs | ) | [virtual] |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.
an occupancy grid map cannot with an image).
obs | The observation. |
Reimplemented from mrpt::slam::CMetricMap.
float mrpt::slam::COccupancyGridMap2D::compute3DMatchingRatio | ( | const CMetricMap * | otherMap, |
const CPose3D & | otherMapPose, | ||
float | minDistForCorr = 0.10f , |
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float | minMahaDistForCorr = 2.0f |
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) | const [virtual] |
Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.
This method always return 0 for grid maps.
otherMap | [IN] The other map to compute the matching with. |
otherMapPose | [IN] The 6D pose of the other map as seen from "this". |
minDistForCorr | [IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence. |
minMahaDistForCorr | [IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence. |
Implements mrpt::slam::CMetricMap.
int mrpt::slam::COccupancyGridMap2D::computeClearance | ( | int | cx, |
int | cy, | ||
int * | basis_x, | ||
int * | basis_y, | ||
int * | nBasis, | ||
bool | GetContourPoint = false |
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) | const |
Compute the clearance of a given cell, and returns its two first basis (closest obstacle) points.Used to build Voronoi and critical points.
cx | The cell index |
cy | The cell index |
basis_x | Target buffer for coordinates of basis, having a size of two "ints". |
basis_y | Target buffer for coordinates of basis, having a size of two "ints". |
nBasis | The number of found basis: Can be 0,1 or 2. |
GetContourPoint | If "true" the basis are not returned, but the closest free cells.Default at false. |
float mrpt::slam::COccupancyGridMap2D::computeClearance | ( | float | x, |
float | y, | ||
float | maxSearchDistance | ||
) | const |
An alternative method for computing the clearance of a given location (in meters).
void mrpt::slam::COccupancyGridMap2D::computeEntropy | ( | TEntropyInfo & | info | ) | const |
Computes the entropy and related values of this grid map.
The entropy is computed as the summed entropy of each cell, taking them as discrete random variables following a Bernoulli distribution:
info | The output information is returned here. |
double mrpt::slam::COccupancyGridMap2D::computeLikelihoodField_II | ( | const CPointsMap * | pm, |
const CPose2D * | relativePose = NULL |
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) |
Computes the likelihood [0,1] of a set of points, given the current grid map as reference.
pm | The points map |
relativePose | The relative pose of the points map in this map's coordinates, or NULL for (0,0,0). See "likelihoodOptions" for configuration parameters. |
double mrpt::slam::COccupancyGridMap2D::computeLikelihoodField_Thrun | ( | const CPointsMap * | pm, |
const CPose2D * | relativePose = NULL |
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) |
Computes the likelihood [0,1] of a set of points, given the current grid map as reference.
pm | The points map |
relativePose | The relative pose of the points map in this map's coordinates, or NULL for (0,0,0). See "likelihoodOptions" for configuration parameters. |
void mrpt::slam::COccupancyGridMap2D::computeMatchingWith2D | ( | const CMetricMap * | otherMap, |
const CPose2D & | otherMapPose, | ||
float | maxDistForCorrespondence, | ||
float | maxAngularDistForCorrespondence, | ||
const CPose2D & | angularDistPivotPoint, | ||
TMatchingPairList & | correspondences, | ||
float & | correspondencesRatio, | ||
float * | sumSqrDist = NULL , |
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bool | onlyKeepTheClosest = false , |
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bool | onlyUniqueRobust = false |
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) | const [virtual] |
See the base class for more details: In this class it is implemented as correspondences of the passed points map to occupied cells.
NOTICE: That the "z" dimension is ignored in the points. Clip the points as appropiated if needed before calling this method.
Reimplemented from mrpt::slam::CMetricMap.
double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood | ( | const CObservation * | obs, |
const CPose3D & | takenFrom | ||
) | [virtual] |
Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.
See "likelihoodOptions" for configuration parameters.
takenFrom | The robot's pose the observation is supposed to be taken from. |
obs | The observation. |
Used in particle filter algorithms, see: CMultiMetricMapPDF::prediction_and_update
Implements mrpt::slam::CMetricMap.
double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference | ( | const CObservation * | obs, |
const CPose2D & | takenFrom | ||
) | [protected] |
One of the methods that can be selected for implementing "computeObservationLikelihood".
double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_Consensus | ( | const CObservation * | obs, |
const CPose2D & | takenFrom | ||
) | [protected] |
One of the methods that can be selected for implementing "computeObservationLikelihood" (This method is the Range-Scan Likelihood Consensus for gridmaps, see the ICRA2007 paper by Blanco et al.)
double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA | ( | const CObservation * | obs, |
const CPose2D & | takenFrom | ||
) | [protected] |
One of the methods that can be selected for implementing "computeObservationLikelihood" TODO: This method is described in....
double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_II | ( | const CObservation * | obs, |
const CPose2D & | takenFrom | ||
) | [protected] |
One of the methods that can be selected for implementing "computeObservationLikelihood".
double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun | ( | const CObservation * | obs, |
const CPose2D & | takenFrom | ||
) | [protected] |
One of the methods that can be selected for implementing "computeObservationLikelihood".
double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_MI | ( | const CObservation * | obs, |
const CPose2D & | takenFrom | ||
) | [protected] |
One of the methods that can be selected for implementing "computeObservationLikelihood".
double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_rayTracing | ( | const CObservation * | obs, |
const CPose2D & | takenFrom | ||
) | [protected] |
One of the methods that can be selected for implementing "computeObservationLikelihood".
float mrpt::slam::COccupancyGridMap2D::computePathCost | ( | float | x1, |
float | y1, | ||
float | x2, | ||
float | y2 | ||
) | const |
Compute the 'cost' of traversing a segment of the map according to the occupancy of traversed cells.
static COccupancyGridMap2DPtr mrpt::slam::COccupancyGridMap2D::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::slam::COccupancyGridMap2D::CreateObject | ( | ) | [static] |
int mrpt::slam::COccupancyGridMap2D::direction2idx | ( | int | dx, |
int | dy | ||
) | [private] |
Returns the index [0,7] of the given movement, or -1 if invalid one.
virtual mrpt::utils::CObject* mrpt::slam::COccupancyGridMap2D::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
void mrpt::slam::COccupancyGridMap2D::fill | ( | float | default_value = 0.5f | ) |
Fills all the cells with a default value.
void mrpt::slam::COccupancyGridMap2D::findCriticalPoints | ( | float | filter_distance | ) |
Builds a list with the critical points from Voronoi diagram, which must must be built before calling this method.
filter_distance | The minimum distance between two critical points. |
void mrpt::slam::COccupancyGridMap2D::freeMap | ( | ) | [protected] |
Frees the dynamic memory buffers of map.
double mrpt::slam::COccupancyGridMap2D::getArea | ( | ) | const [inline] |
Returns the area of the gridmap, in square meters.
Definition at line 450 of file COccupancyGridMap2D.h.
References square().
void mrpt::slam::COccupancyGridMap2D::getAs3DObject | ( | mrpt::opengl::CSetOfObjectsPtr & | outObj | ) | const [virtual] |
Returns a 3D plane with its texture being the occupancy grid and transparency proportional to "uncertainty" (i.e.
a value of 0.5 is fully transparent)
Implements mrpt::slam::CMetricMap.
void mrpt::slam::COccupancyGridMap2D::getAsImage | ( | utils::CImage & | img, |
bool | verticalFlip = false , |
||
bool | forceRGB = false , |
||
bool | tricolor = false |
||
) | const |
Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively.
void mrpt::slam::COccupancyGridMap2D::getAsImageFiltered | ( | utils::CImage & | img, |
bool | verticalFlip = false , |
||
bool | forceRGB = false |
||
) | const |
Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) - This method filters the image for easy feature detection If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively.
unsigned char mrpt::slam::COccupancyGridMap2D::getBasisCell | ( | int | x, |
int | y | ||
) | const [inline] |
Reads a cell in the "basis" maps.Used for Voronoi calculation.
Definition at line 576 of file COccupancyGridMap2D.h.
References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().
const CDynamicGrid<uint8_t>& mrpt::slam::COccupancyGridMap2D::getBasisMap | ( | ) | const [inline] |
Return the auxiliary "basis" map built while building the Voronoi diagram.
Definition at line 881 of file COccupancyGridMap2D.h.
float mrpt::slam::COccupancyGridMap2D::getCell | ( | int | x, |
int | y | ||
) | const [inline] |
Read the real valued [0,1] contents of a cell, given its index.
Definition at line 531 of file COccupancyGridMap2D.h.
float mrpt::slam::COccupancyGridMap2D::getCell_nocheck | ( | int | x, |
int | y | ||
) | const [inline, protected] |
Read the real valued [0,1] contents of a cell, given its index.
Definition at line 195 of file COccupancyGridMap2D.h.
unsigned char mrpt::slam::COccupancyGridMap2D::GetNeighborhood | ( | int | cx, |
int | cy | ||
) | const [inline, private] |
Returns a byte with the occupancy of the 8 sorrounding cells.
cx | The cell index |
cy | The cell index |
float mrpt::slam::COccupancyGridMap2D::getPos | ( | float | x, |
float | y | ||
) | const [inline] |
Read the real valued [0,1] contents of a cell, given its coordinates.
Definition at line 553 of file COccupancyGridMap2D.h.
float mrpt::slam::COccupancyGridMap2D::getResolution | ( | ) | const [inline] |
Returns the resolution of the grid map.
Definition at line 478 of file COccupancyGridMap2D.h.
cellType* mrpt::slam::COccupancyGridMap2D::getRow | ( | int | cy | ) | [inline] |
Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.
Definition at line 541 of file COccupancyGridMap2D.h.
const cellType* mrpt::slam::COccupancyGridMap2D::getRow | ( | int | cy | ) | const [inline] |
Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.
Definition at line 545 of file COccupancyGridMap2D.h.
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::COccupancyGridMap2D::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::slam::CMetricMap.
unsigned int mrpt::slam::COccupancyGridMap2D::getSizeX | ( | ) | const [inline] |
Returns the horizontal size of grid map in cells count.
Definition at line 454 of file COccupancyGridMap2D.h.
unsigned int mrpt::slam::COccupancyGridMap2D::getSizeY | ( | ) | const [inline] |
Returns the vertical size of grid map in cells count.
Definition at line 458 of file COccupancyGridMap2D.h.
uint16_t mrpt::slam::COccupancyGridMap2D::getVoroniClearance | ( | int | cx, |
int | cy | ||
) | const [inline] |
Reads a the clearance of a cell (in centimeters), after building the Voronoi diagram with buildVoronoiDiagram.
Definition at line 852 of file COccupancyGridMap2D.h.
References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().
const CDynamicGrid<uint16_t>& mrpt::slam::COccupancyGridMap2D::getVoronoiDiagram | ( | ) | const [inline] |
Return the Voronoi diagram; each cell contains the distance to its closer obstacle, or 0 if not part of the Voronoi diagram.
Definition at line 884 of file COccupancyGridMap2D.h.
float mrpt::slam::COccupancyGridMap2D::getXMax | ( | ) | const [inline] |
Returns the "x" coordinate of right side of grid map.
Definition at line 466 of file COccupancyGridMap2D.h.
float mrpt::slam::COccupancyGridMap2D::getXMin | ( | ) | const [inline] |
Returns the "x" coordinate of left side of grid map.
Definition at line 462 of file COccupancyGridMap2D.h.
float mrpt::slam::COccupancyGridMap2D::getYMax | ( | ) | const [inline] |
Returns the "y" coordinate of bottom side of grid map.
Definition at line 474 of file COccupancyGridMap2D.h.
float mrpt::slam::COccupancyGridMap2D::getYMin | ( | ) | const [inline] |
Returns the "y" coordinate of top side of grid map.
Definition at line 470 of file COccupancyGridMap2D.h.
static double mrpt::slam::COccupancyGridMap2D::H | ( | double | p | ) | [static, protected] |
Entropy computation internal function:
float mrpt::slam::COccupancyGridMap2D::idx2x | ( | const size_t | cx | ) | const [inline] |
Transform a cell index into a coordinate value.
Definition at line 490 of file COccupancyGridMap2D.h.
float mrpt::slam::COccupancyGridMap2D::idx2y | ( | const size_t | cy | ) | const [inline] |
Definition at line 491 of file COccupancyGridMap2D.h.
virtual void mrpt::slam::COccupancyGridMap2D::internal_clear | ( | ) | [protected, virtual] |
Clear the map: It set all cells to their default occupancy value (0.5), without changing the resolution (the grid extension is reset to the default values).
Implements mrpt::slam::CMetricMap.
virtual bool mrpt::slam::COccupancyGridMap2D::internal_insertObservation | ( | const CObservation * | obs, |
const CPose3D * | robotPose = NULL |
||
) | [protected, virtual] |
Insert the observation information into this map.
obs | The observation |
robotPose | The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use CPose2D(0,0,deg) |
After successfull execution, "lastObservationInsertionInfo" is updated.
Implements mrpt::slam::CMetricMap.
bool mrpt::slam::COccupancyGridMap2D::isEmpty | ( | ) | const [virtual] |
Returns true upon map construction or after calling clear(), the return changes to false upon successful insertObservation() or any other method to load data in the map.
Implements mrpt::slam::CMetricMap.
bool mrpt::slam::COccupancyGridMap2D::isStaticCell | ( | int | cx, |
int | cy, | ||
float | threshold = 0.7f |
||
) | const [inline] |
Definition at line 558 of file COccupancyGridMap2D.h.
bool mrpt::slam::COccupancyGridMap2D::isStaticPos | ( | float | x, |
float | y, | ||
float | threshold = 0.7f |
||
) | const [inline] |
Returns "true" if cell is "static", i.e.if its occupancy is below a given threshold.
Definition at line 557 of file COccupancyGridMap2D.h.
static float mrpt::slam::COccupancyGridMap2D::l2p | ( | const cellType & | l | ) | [inline, static] |
Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l))
Definition at line 500 of file COccupancyGridMap2D.h.
References OCCGRID_CELLTYPE_MIN.
static uint8_t mrpt::slam::COccupancyGridMap2D::l2p_255 | ( | const cellType & | l | ) | [inline, static] |
Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l))
Definition at line 507 of file COccupancyGridMap2D.h.
References OCCGRID_CELLTYPE_MIN.
void mrpt::slam::COccupancyGridMap2D::laserScanSimulator | ( | CObservation2DRangeScan & | inout_Scan, |
const CPose2D & | robotPose, | ||
float | threshold = 0.5f , |
||
size_t | N = 361 , |
||
float | noiseStd = 0 , |
||
unsigned int | decimation = 1 , |
||
float | angleNoiseStd = DEG2RAD(0) |
||
) | const |
Simulates a laser range scan into the current grid map.
The simulated scan is stored in a CObservation2DRangeScan object, which is also used to pass some parameters: all previously stored characteristics (as aperture,...) are taken into account for simulation. Only a few more parameters are needed. Additive gaussian noise can be optionally added to the simulated scan.
inout_Scan | [IN/OUT] This must be filled with desired parameters before calling, and will contain the scan samples on return. |
robotPose | [IN] The robot pose in this map coordinates. Recall that sensor pose relative to this robot pose must be specified in the observation object. |
threshold | [IN] The minimum occupancy threshold to consider a cell to be occupied, for example 0.5. |
N | [IN] The count of range scan "rays", by default to 361. |
noiseStd | [IN] The standard deviation of measurement noise. If not desired, set to 0. |
decimation | [IN] The rays that will be simulated are at indexes: 0, D, 2D, 3D, ... Default is D=1 |
angleNoiseStd | [IN] The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians). |
bool mrpt::slam::COccupancyGridMap2D::loadFromBitmap | ( | const mrpt::utils::CImage & | img, |
float | resolution, | ||
float | xCentralPixel = -1 , |
||
float | yCentralPixel = -1 |
||
) |
Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).
img | The image. Only a grayscale image will be used, so RGB components will be mixed if a color image is passed. |
resolution | The size of a pixel (cell), in meters. Recall cells are always squared, so just a dimension is needed. |
xCentralPixel | The "x" coordinate (0=first) for the pixel which will be taken at coordinates origin (0,0). If not supplied, it will be used the middle of the map. |
yCentralPixel | The "y" coordinate (0=first) for the pixel which will be taken at coordinates origin (0,0). If not supplied, it will be used the middle of the map. |
bool mrpt::slam::COccupancyGridMap2D::loadFromBitmapFile | ( | const std::string & | file, |
float | resolution, | ||
float | xCentralPixel = -1 , |
||
float | yCentralPixel = -1 |
||
) |
Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).
file | The file to be loaded. |
resolution | The size of a pixel (cell), in meters. Recall cells are always squared, so just a dimension is needed. |
xCentralPixel | The "x" coordinate (0=first) for the pixel which will be taken at coordinates origin (0,0). If not supplied, it will be used the middle of the map. |
yCentralPixel | The "y" coordinate (0=first) for the pixel which will be taken at coordinates origin (0,0). If not supplied, it will be used the middle of the map. |
virtual void mrpt::slam::COccupancyGridMap2D::OnPostSuccesfulInsertObs | ( | const CObservation * | ) | [protected, virtual] |
See base class.
Reimplemented from mrpt::slam::CMetricMap.
static cellType mrpt::slam::COccupancyGridMap2D::p2l | ( | const float & | p | ) | [inline, static] |
Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cellType.
Definition at line 514 of file COccupancyGridMap2D.h.
References OCCGRID_P2LTABLE_SIZE.
void mrpt::slam::COccupancyGridMap2D::resizeGrid | ( | float | new_x_min, |
float | new_x_max, | ||
float | new_y_min, | ||
float | new_y_max, | ||
float | new_cells_default_value = 0.5f , |
||
bool | additionalMargin = true |
||
) |
Change the size of gridmap, maintaining previous contents.
new_x_min | The "x" coordinates of new left most side of grid. |
new_x_max | The "x" coordinates of new right most side of grid. |
new_y_min | The "y" coordinates of new top most side of grid. |
new_y_max | The "y" coordinates of new bottom most side of grid. |
new_cells_default_value | The value of the new cells, tipically 0.5. |
additionalMargin | If set to true (default), an additional margin of a few meters will be added to the grid, ONLY if the new coordinates are larger than current ones. |
bool mrpt::slam::COccupancyGridMap2D::saveAsBitmapFile | ( | const std::string & | file | ) | const |
Saves the gridmap as a graphical file (BMP,PNG,...).
The format will be derived from the file extension (see CImage::saveToFile )
bool mrpt::slam::COccupancyGridMap2D::saveAsBitmapFileWithLandmarks | ( | const std::string & | file, |
const CLANDMARKSMAP * | landmarks, | ||
bool | addTextLabels = false , |
||
const mrpt::utils::TColor & | marks_color = mrpt::utils::TColor(0,0,255) |
||
) | const [inline] |
Saves the gridmap as a graphical bitmap file, 8 bit gray scale, 1 pixel is 1 cell, and with an overlay of landmarks.
Definition at line 1041 of file COccupancyGridMap2D.h.
References mrpt::utils::TColor::black, mrpt::format(), MRPT_END, and MRPT_START.
static bool mrpt::slam::COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences | ( | const std::string & | fileName, |
const COccupancyGridMap2D * | m1, | ||
const COccupancyGridMap2D * | m2, | ||
const TMatchingPairList & | corrs | ||
) | [static] |
Saves a composite image with two gridmaps and lines representing a set of correspondences between them.
static bool mrpt::slam::COccupancyGridMap2D::saveAsEMFTwoMapsWithCorrespondences | ( | const std::string & | fileName, |
const COccupancyGridMap2D * | m1, | ||
const COccupancyGridMap2D * | m2, | ||
const TMatchingPairList & | corrs | ||
) | [static] |
Saves a composite image with two gridmaps and numbers for the correspondences between them.
void mrpt::slam::COccupancyGridMap2D::saveMetricMapRepresentationToFile | ( | const std::string & | filNamePrefix | ) | const [virtual] |
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).
Implements mrpt::slam::CMetricMap.
void mrpt::slam::COccupancyGridMap2D::setBasisCell | ( | int | x, |
int | y, | ||
uint8_t | value | ||
) | [inline] |
Change a cell in the "basis" maps.Used for Voronoi calculation.
Definition at line 562 of file COccupancyGridMap2D.h.
References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().
void mrpt::slam::COccupancyGridMap2D::setCell | ( | int | x, |
int | y, | ||
float | value | ||
) | [inline] |
Change the contents [0,1] of a cell, given its index.
Definition at line 521 of file COccupancyGridMap2D.h.
void mrpt::slam::COccupancyGridMap2D::setCell_nocheck | ( | int | x, |
int | y, | ||
float | value | ||
) | [inline, protected] |
Change the contents [0,1] of a cell, given its index.
Definition at line 188 of file COccupancyGridMap2D.h.
void mrpt::slam::COccupancyGridMap2D::setPos | ( | float | x, |
float | y, | ||
float | value | ||
) | [inline] |
Change the contents [0,1] of a cell, given its coordinates.
Definition at line 549 of file COccupancyGridMap2D.h.
void mrpt::slam::COccupancyGridMap2D::setRawCell | ( | unsigned int | cellIndex, |
cellType | b | ||
) | [inline, protected] |
Changes a cell by its absolute index (Do not use it normally)
Definition at line 202 of file COccupancyGridMap2D.h.
void mrpt::slam::COccupancyGridMap2D::setSize | ( | float | x_min, |
float | x_max, | ||
float | y_min, | ||
float | y_max, | ||
float | resolution, | ||
float | default_value = 0.5f |
||
) |
Change the size of gridmap, erasing all its previous contents.
x_min | The "x" coordinates of left most side of grid. |
x_max | The "x" coordinates of right most side of grid. |
y_min | The "y" coordinates of top most side of grid. |
y_max | The "y" coordinates of bottom most side of grid. |
resolution | The new size of cells. |
default_value | The value of cells, tipically 0.5. |
void mrpt::slam::COccupancyGridMap2D::setVoroniClearance | ( | int | cx, |
int | cy, | ||
uint16_t | dist | ||
) | [inline, protected] |
Used to set the clearance of a cell, while building the Voronoi diagram.
Definition at line 866 of file COccupancyGridMap2D.h.
References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().
void mrpt::slam::COccupancyGridMap2D::simulateScanRay | ( | const double | x, |
const double | y, | ||
const double | angle_direction, | ||
float & | out_range, | ||
bool & | out_valid, | ||
const unsigned int | max_ray_len, | ||
const float | threshold_free = 0.5f , |
||
const double | noiseStd = 0 , |
||
const double | angleNoiseStd = 0 |
||
) | const [inline] |
Simulate just one "ray" in the grid map.
This method is used internally to sonarSimulator and laserScanSimulator.
void mrpt::slam::COccupancyGridMap2D::sonarSimulator | ( | CObservationRange & | inout_observation, |
const CPose2D & | robotPose, | ||
float | threshold = 0.5f , |
||
float | rangeNoiseStd = 0 , |
||
float | angleNoiseStd = DEG2RAD(0) |
||
) | const |
Simulates the observations of a sonar rig into the current grid map.
The simulated ranges are stored in a CObservationRange object, which is also used to pass in some needed parameters, as the poses of the sonar sensors onto the mobile robot.
inout_observation | [IN/OUT] This must be filled with desired parameters before calling, and will contain the simulated ranges on return. |
robotPose | [IN] The robot pose in this map coordinates. Recall that sensor pose relative to this robot pose must be specified in the observation object. |
threshold | [IN] The minimum occupancy threshold to consider a cell to be occupied, for example 0.5. |
rangeNoiseStd | [IN] The standard deviation of measurement noise. If not desired, set to 0. |
angleNoiseStd | [IN] The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians). |
void mrpt::slam::COccupancyGridMap2D::subSample | ( | int | downRatio | ) |
Performs a downsampling of the gridmap, by a given factor: resolution/=ratio.
void mrpt::slam::COccupancyGridMap2D::updateCell | ( | int | x, |
int | y, | ||
float | v | ||
) |
Performs the Bayesian fusion of a new observation of a cell.
static void mrpt::slam::COccupancyGridMap2D::updateCell_fast_free | ( | const unsigned & | x, |
const unsigned & | y, | ||
const cellType & | logodd_obs, | ||
const cellType & | thres, | ||
cellType * | mapArray, | ||
const unsigned & | _size_x | ||
) | [inline, static] |
Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
This method increases the "free-ness" of a cell, managing possible saturation.
x | Cell index in X axis. |
y | Cell index in Y axis. |
logodd_obs | Observation of the cell, in log-odd form as transformed by p2l. |
thres | This must be OCCGRID_CELLTYPE_MAX-logodd_obs |
Definition at line 348 of file COccupancyGridMap2D.h.
References OCCGRID_CELLTYPE_MAX.
static void mrpt::slam::COccupancyGridMap2D::updateCell_fast_free | ( | cellType * | theCell, |
const cellType & | logodd_obs, | ||
const cellType & | thres | ||
) | [inline, static] |
Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
This method increases the "free-ness" of a cell, managing possible saturation.
x | Cell index in X axis. |
y | Cell index in Y axis. |
logodd_obs | Observation of the cell, in log-odd form as transformed by p2l. |
thres | This must be OCCGRID_CELLTYPE_MAX-logodd_obs |
Definition at line 370 of file COccupancyGridMap2D.h.
References OCCGRID_CELLTYPE_MAX.
static void mrpt::slam::COccupancyGridMap2D::updateCell_fast_occupied | ( | cellType * | theCell, |
const cellType & | logodd_obs, | ||
const cellType & | thres | ||
) | [inline, static] |
Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
This method increases the "occupancy-ness" of a cell, managing possible saturation.
theCell | The cell to modify |
logodd_obs | Observation of the cell, in log-odd form as transformed by p2l. |
thres | This must be OCCGRID_CELLTYPE_MIN+logodd_obs |
Definition at line 330 of file COccupancyGridMap2D.h.
References OCCGRID_CELLTYPE_MIN.
static void mrpt::slam::COccupancyGridMap2D::updateCell_fast_occupied | ( | const unsigned & | x, |
const unsigned & | y, | ||
const cellType & | logodd_obs, | ||
const cellType & | thres, | ||
cellType * | mapArray, | ||
const unsigned & | _size_x | ||
) | [inline, static] |
Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
This method increases the "occupancy-ness" of a cell, managing possible saturation.
x | Cell index in X axis. |
y | Cell index in Y axis. |
logodd_obs | Observation of the cell, in log-odd form as transformed by p2l. |
thres | This must be OCCGRID_CELLTYPE_MIN+logodd_obs |
Definition at line 309 of file COccupancyGridMap2D.h.
References OCCGRID_CELLTYPE_MIN.
int mrpt::slam::COccupancyGridMap2D::x2idx | ( | double | x | ) | const [inline] |
Definition at line 485 of file COccupancyGridMap2D.h.
int mrpt::slam::COccupancyGridMap2D::x2idx | ( | float | x | ) | const [inline] |
Transform a coordinate value into a cell index.
Definition at line 482 of file COccupancyGridMap2D.h.
int mrpt::slam::COccupancyGridMap2D::x2idx | ( | float | x, |
float | x_min | ||
) | const [inline] |
Transform a coordinate value into a cell index, using a diferent "x_min" value.
Definition at line 495 of file COccupancyGridMap2D.h.
int mrpt::slam::COccupancyGridMap2D::y2idx | ( | float | y | ) | const [inline] |
Definition at line 483 of file COccupancyGridMap2D.h.
int mrpt::slam::COccupancyGridMap2D::y2idx | ( | float | y, |
float | y_min | ||
) | const [inline] |
Definition at line 496 of file COccupancyGridMap2D.h.
int mrpt::slam::COccupancyGridMap2D::y2idx | ( | double | y | ) | const [inline] |
Definition at line 486 of file COccupancyGridMap2D.h.
friend class CMultiMetricMap [friend] |
Definition at line 132 of file COccupancyGridMap2D.h.
friend class CMultiMetricMapPDF [friend] |
Definition at line 133 of file COccupancyGridMap2D.h.
mrpt::utils::CLASSINIT mrpt::slam::COccupancyGridMap2D::_init_COccupancyGridMap2D [static, protected] |
Definition at line 114 of file COccupancyGridMap2D.h.
Definition at line 114 of file COccupancyGridMap2D.h.
Definition at line 114 of file COccupancyGridMap2D.h.
struct MAPS_IMPEXP mrpt::slam::COccupancyGridMap2D::TCriticalPointsList mrpt::slam::COccupancyGridMap2D::CriticalPointsList |
int mrpt::slam::COccupancyGridMap2D::direccion_vecino_x[8] [private] |
Used to store the 8 possible movements from a cell to the sorrounding ones.Filled in the constructor.
Definition at line 1186 of file COccupancyGridMap2D.h.
int mrpt::slam::COccupancyGridMap2D::direccion_vecino_y[8] [private] |
Definition at line 1186 of file COccupancyGridMap2D.h.
std::vector<float> mrpt::slam::COccupancyGridMap2D::entropyTable [static, protected] |
Internally used to speed-up entropy calculation.
Definition at line 212 of file COccupancyGridMap2D.h.
With this struct options are provided to the observation insertion process.
Definition at line 692 of file COccupancyGridMap2D.h.
mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions mrpt::slam::COccupancyGridMap2D::likelihoodOptions |
class mrpt::slam::COccupancyGridMap2D::TLikelihoodOutput mrpt::slam::COccupancyGridMap2D::likelihoodOutputs |
std::vector<float> mrpt::slam::COccupancyGridMap2D::logoddsTable [static, protected] |
A lookup table to compute occupancy probabilities in [0,1] from integer log-odds values in the cells, using .
Definition at line 216 of file COccupancyGridMap2D.h.
std::vector<uint8_t> mrpt::slam::COccupancyGridMap2D::logoddsTable_255 [static, protected] |
A lookup table to compute occupancy probabilities in the range [0,255] from integer log-odds values in the cells, using .
This is used to speed-up conversions to grayscale images.
Definition at line 221 of file COccupancyGridMap2D.h.
uint8_t* mrpt::slam::COccupancyGridMap2D::logoddsTable_255Ptr [static, protected] |
A pointer to the vector logoddsTable_255.
Definition at line 227 of file COccupancyGridMap2D.h.
float* mrpt::slam::COccupancyGridMap2D::logoddsTablePtr [static, protected] |
A pointer to the vector logoddsTable.
Definition at line 224 of file COccupancyGridMap2D.h.
CDynamicGrid<uint8_t> mrpt::slam::COccupancyGridMap2D::m_basis_map [protected] |
Used for Voronoi calculation.Same struct as "map", but contains a "0" if not a basis point.
Definition at line 162 of file COccupancyGridMap2D.h.
bool mrpt::slam::COccupancyGridMap2D::m_is_empty [protected] |
True upon construction; used by isEmpty()
Definition at line 170 of file COccupancyGridMap2D.h.
CDynamicGrid<uint16_t> mrpt::slam::COccupancyGridMap2D::m_voronoi_diagram [protected] |
Used to store the Voronoi diagram.
Contains the distance of each cell to its closer obstacles in 1/100th distance units (i.e. in centimeters), or 0 if not into the Voronoi diagram.
Definition at line 168 of file COccupancyGridMap2D.h.
std::vector<cellType> mrpt::slam::COccupancyGridMap2D::map [protected] |
This is the buffer for storing the cells.In this dynamic size buffer are stored the cell values as "bytes", stored row by row, from left to right cells.
Definition at line 139 of file COccupancyGridMap2D.h.
std::vector<cellType> mrpt::slam::COccupancyGridMap2D::p2lTable [static, protected] |
A lookup table for passing from float to log-odds as cellType.
Definition at line 230 of file COccupancyGridMap2D.h.
cellType* mrpt::slam::COccupancyGridMap2D::p2lTablePtr [static, protected] |
A pointer to the vector p2lTable.
Definition at line 233 of file COccupancyGridMap2D.h.
std::vector<double> mrpt::slam::COccupancyGridMap2D::precomputedLikelihood [protected] |
These are auxiliary variables to speed up the computation of observation likelihood values for LF method among others, at a high cost in memory (see TLikelihoodOptions::enableLikelihoodCache).
Definition at line 155 of file COccupancyGridMap2D.h.
bool mrpt::slam::COccupancyGridMap2D::precomputedLikelihoodToBeRecomputed [protected] |
Definition at line 156 of file COccupancyGridMap2D.h.
float mrpt::slam::COccupancyGridMap2D::resolution [protected] |
uint32_t mrpt::slam::COccupancyGridMap2D::size_x [protected] |
The size of the grid in cells.
Definition at line 143 of file COccupancyGridMap2D.h.
uint32_t mrpt::slam::COccupancyGridMap2D::size_y [protected] |
Definition at line 143 of file COccupancyGridMap2D.h.
struct MAPS_IMPEXP mrpt::slam::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly mrpt::slam::COccupancyGridMap2D::updateInfoChangeOnly |
float mrpt::slam::COccupancyGridMap2D::voroni_free_threshold [protected] |
The free-cells threshold used to compute the Voronoi diagram.
Definition at line 176 of file COccupancyGridMap2D.h.
float mrpt::slam::COccupancyGridMap2D::x_max [protected] |
Definition at line 147 of file COccupancyGridMap2D.h.
float mrpt::slam::COccupancyGridMap2D::x_min [protected] |
The limits of the grid in "units" (meters).
Definition at line 147 of file COccupancyGridMap2D.h.
float mrpt::slam::COccupancyGridMap2D::y_max [protected] |
Definition at line 147 of file COccupancyGridMap2D.h.
float mrpt::slam::COccupancyGridMap2D::y_min [protected] |
Definition at line 147 of file COccupancyGridMap2D.h.
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