jafar::rtslam::VisibilityMap Class Reference

This class is a map that keeps records of places frome where a landmark was or was not visible, in order to avoid to repeatedly search a landmark from a place it cannot be seen. More...

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Detailed Description

This class is a map that keeps records of places frome where a landmark was or was not visible, in order to avoid to repeatedly search a landmark from a place it cannot be seen.

Definition at line 28 of file visibilityMap.hpp.

#include <visibilityMap.hpp>

List of all members.

Classes
struct	Cell
Public Member Functions
	VisibilityMap (double angularRes, double distInit, double distFactor, int nDist, int nCertainty)
	Constructor.
void	addObservation (const observation_ptr_t obsPtr)
	add an observation to the map
void	estimateVisibility (const observation_ptr_t obsPtr, double &visibility, double &certainty)
	return the score of visibility and its certainty (both beween 0 and 1)
Protected Member Functions
Cell *	getCell (const observation_ptr_t obsPtr, bool create=false)
Protected Attributes
SphericalGrid< Cell >	grid
double	nCertainty
Cell *	lastCell
double	lastVis
double	lastVisUncert
Friends
std::ostream &	operator<< (std::ostream &s, Cell const &cell)
std::ostream &	operator<< (std::ostream &s, VisibilityMap const &vismap)

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Constructor & Destructor Documentation

jafar::rtslam::VisibilityMap::VisibilityMap	(	double	angularRes,
		double	distInit,
		double	distFactor,
		int	nDist,
		int	nCertainty
	)

Constructor.

Parameters:

angularRes	the angular resolution of the map (yaw and pitch)
distInit,distFactor,nDist	borders between the depth cells are distInit,distInit*distFactor,...,distInit*distFactor^(nDist-2) -> nDist depth cells
nCertainty	a visibility score is supposed to be completely certain if at least nCertainty observations were used to compute it

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

• modules/rtslam/include/rtslam/visibilityMap.hpp