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mrpt::maps::CLogOddsGridMapLUT< TCELL > Struct Template Reference

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:

See also
CLogOddsGridMap2D, see derived classes for usage examples.

Definition at line 145 of file maps/CLogOddsGridMap2D.h.

#include <mrpt/maps/CLogOddsGridMap2D.h>

Inheritance diagram for mrpt::maps::CLogOddsGridMapLUT< TCELL >:
Inheritance graph

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 $ p(m_{xy}) = \frac{1}{1+exp(-log_odd)} $. More...
 
std::vector< uint8_tlogoddsTable_255
 A lookup table to compute occupancy probabilities in the range [0,255] from integer log-odds values in the cells, using $ p(m_{xy}) = \frac{1}{1+exp(-log_odd)} $. More...
 
std::vector< cell_tp2lTable
 A lookup table for passing from float to log-odds as cell_t. More...
 

Member Typedef Documentation

◆ cell_t

template<typename TCELL>
typedef TCELL mrpt::maps::CLogOddsGridMapLUT< TCELL >::cell_t

The type of.

Definition at line 147 of file maps/CLogOddsGridMap2D.h.

◆ traits_t

template<typename TCELL>
typedef detail::logoddscell_traits<TCELL> mrpt::maps::CLogOddsGridMapLUT< TCELL >::traits_t

Definition at line 148 of file maps/CLogOddsGridMap2D.h.

Constructor & Destructor Documentation

◆ CLogOddsGridMapLUT()

template<typename TCELL>
mrpt::maps::CLogOddsGridMapLUT< TCELL >::CLogOddsGridMapLUT ( )
inline

Constructor: computes all the required stuff.

Definition at line 163 of file maps/CLogOddsGridMap2D.h.

Member Function Documentation

◆ l2p()

template<typename TCELL>
float mrpt::maps::CLogOddsGridMapLUT< TCELL >::l2p ( const cell_t  l)
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()

template<typename TCELL>
uint8_t mrpt::maps::CLogOddsGridMapLUT< TCELL >::l2p_255 ( const cell_t  l)
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()

template<typename TCELL>
cell_t mrpt::maps::CLogOddsGridMapLUT< TCELL >::p2l ( const float  p)
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

template<typename TCELL>
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 $ p(m_{xy}) = \frac{1}{1+exp(-log_odd)} $.

Definition at line 152 of file maps/CLogOddsGridMap2D.h.

Referenced by mrpt::maps::CLogOddsGridMapLUT< cellType >::CLogOddsGridMapLUT(), and mrpt::maps::CLogOddsGridMapLUT< cellType >::l2p().

◆ logoddsTable_255

template<typename TCELL>
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 $ p(m_{xy}) = \frac{1}{1+exp(-log_odd)} $.

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

template<typename TCELL>
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().




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