Detailed Description
template<typename TCELL>
struct mrpt::maps::CLogOddsGridMapLUT< TCELL >
One static instance of this struct should exist in any class implementing CLogOddsGridMap2D to hold the Look-up-tables (LUTs) for log-odss Bayesian update.
Map cells must be type TCELL, which can be only:
- int8_t or
- int16_t
- See also
- CLogOddsGridMap2D, see derived classes for usage examples.
Definition at line 145 of file maps/CLogOddsGridMap2D.h.
#include <mrpt/maps/CLogOddsGridMap2D.h>
Public Types | |
| typedef TCELL | cell_t |
| The type of. More... | |
| typedef detail::logoddscell_traits< TCELL > | traits_t |
Public Member Functions | |
| CLogOddsGridMapLUT () | |
| Constructor: computes all the required stuff. More... | |
| float | l2p (const cell_t l) |
| Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l)) More... | |
| uint8_t | l2p_255 (const cell_t l) |
| Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l)) More... | |
| cell_t | 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 cell_t. More... | |
Public Attributes | |
| std::vector< float > | logoddsTable |
A lookup table to compute occupancy probabilities in [0,1] from integer log-odds values in the cells, using  . More... | |
| 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 . More... | |
| std::vector< cell_t > | p2lTable |
| A lookup table for passing from float to log-odds as cell_t. More... | |
Member Typedef Documentation
◆ cell_t
| typedef TCELL mrpt::maps::CLogOddsGridMapLUT< TCELL >::cell_t |
The type of.
Definition at line 147 of file maps/CLogOddsGridMap2D.h.
◆ traits_t
| typedef detail::logoddscell_traits<TCELL> mrpt::maps::CLogOddsGridMapLUT< TCELL >::traits_t |
Definition at line 148 of file maps/CLogOddsGridMap2D.h.
Constructor & Destructor Documentation
◆ CLogOddsGridMapLUT()
|
inline |
Constructor: computes all the required stuff.
Definition at line 163 of file maps/CLogOddsGridMap2D.h.
Member Function Documentation
◆ l2p()
|
inline |
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 202 of file maps/CLogOddsGridMap2D.h.
Referenced by mrpt::maps::CReflectivityGridMap2D::cell2float(), mrpt::maps::CReflectivityGridMap2D::internal_computeObservationLikelihood(), and mrpt::maps::COccupancyGridMap2D::l2p().
◆ l2p_255()
|
inline |
Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l))
Definition at line 211 of file maps/CLogOddsGridMap2D.h.
Referenced by mrpt::maps::CReflectivityGridMap2D::getAs3DObject(), mrpt::maps::CReflectivityGridMap2D::getAsImage(), and mrpt::maps::COccupancyGridMap2D::l2p_255().
◆ p2l()
|
inline |
Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cell_t.
Definition at line 220 of file maps/CLogOddsGridMap2D.h.
Referenced by mrpt::maps::CReflectivityGridMap2D::internal_clear(), mrpt::maps::CReflectivityGridMap2D::internal_insertObservation(), and mrpt::maps::COccupancyGridMap2D::p2l().
Member Data Documentation
◆ logoddsTable
| std::vector<float> mrpt::maps::CLogOddsGridMapLUT< TCELL >::logoddsTable |
A lookup table to compute occupancy probabilities in [0,1] from integer log-odds values in the cells, using .
Definition at line 152 of file maps/CLogOddsGridMap2D.h.
Referenced by mrpt::maps::CLogOddsGridMapLUT< cellType >::CLogOddsGridMapLUT(), and mrpt::maps::CLogOddsGridMapLUT< cellType >::l2p().
◆ logoddsTable_255
| std::vector<uint8_t> mrpt::maps::CLogOddsGridMapLUT< TCELL >::logoddsTable_255 |
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 157 of file maps/CLogOddsGridMap2D.h.
Referenced by mrpt::maps::CLogOddsGridMapLUT< cellType >::CLogOddsGridMapLUT(), and mrpt::maps::CLogOddsGridMapLUT< cellType >::l2p_255().
◆ p2lTable
| std::vector<cell_t> mrpt::maps::CLogOddsGridMapLUT< TCELL >::p2lTable |
A lookup table for passing from float to log-odds as cell_t.
Definition at line 160 of file maps/CLogOddsGridMap2D.h.
Referenced by mrpt::maps::CLogOddsGridMapLUT< cellType >::CLogOddsGridMapLUT(), and mrpt::maps::CLogOddsGridMapLUT< cellType >::p2l().