karto::ScanMatcher Class Reference

#include <Mapper.h>

Public Member Functions
void	ComputeAngularCovariance (const Pose2 &rBestPose, kt_double bestResponse, const Pose2 &rSearchCenter, kt_double searchAngleOffset, kt_double searchAngleResolution, Matrix3 &rCovariance)
void	ComputePositionalCovariance (const Pose2 &rBestPose, kt_double bestResponse, const Pose2 &rSearchCenter, const Vector2< kt_double > &rSearchSpaceOffset, const Vector2< kt_double > &rSearchSpaceResolution, kt_double searchAngleResolution, Matrix3 &rCovariance)
kt_double	CorrelateScan (LocalizedRangeScan *pScan, const Pose2 &rSearchCenter, const Vector2< kt_double > &rSearchSpaceOffset, const Vector2< kt_double > &rSearchSpaceResolution, kt_double searchAngleOffset, kt_double searchAngleResolution, kt_bool doPenalize, Pose2 &rMean, Matrix3 &rCovariance, kt_bool doingFineMatch)
CorrelationGrid *	GetCorrelationGrid () const
kt_double	MatchScan (LocalizedRangeScan *pScan, const LocalizedRangeScanVector &rBaseScans, Pose2 &rMean, Matrix3 &rCovariance, kt_bool doPenalize=true, kt_bool doRefineMatch=true)
virtual	~ScanMatcher ()
Static Public Member Functions
static ScanMatcher *	Create (Mapper *pMapper, kt_double searchSize, kt_double resolution, kt_double smearDeviation, kt_double rangeThreshold)
Protected Member Functions
	ScanMatcher (Mapper *pMapper)
Private Member Functions
void	AddScan (LocalizedRangeScan *pScan, const Vector2< kt_double > &rViewPoint, kt_bool doSmear=true)
void	AddScans (const LocalizedRangeScanVector &rScans, Vector2< kt_double > viewPoint)
PointVectorDouble	FindValidPoints (LocalizedRangeScan *pScan, const Vector2< kt_double > &rViewPoint) const
kt_double	GetResponse (kt_int32u angleIndex, kt_int32s gridPositionIndex) const
Private Attributes
CorrelationGrid *	m_pCorrelationGrid
GridIndexLookup< kt_int8u > *	m_pGridLookup
Mapper *	m_pMapper
Grid< kt_double > *	m_pSearchSpaceProbs

Detailed Description

Definition at line 930 of file Mapper.h.

Constructor & Destructor Documentation

karto::ScanMatcher::~ScanMatcher ( ) [virtual]

Destructor

Definition at line 296 of file Mapper.cpp.

karto::ScanMatcher::ScanMatcher ( Mapper * pMapper ) [inline, protected]

Default constructor

Definition at line 1047 of file Mapper.h.

Member Function Documentation

void karto::ScanMatcher::AddScan	(	LocalizedRangeScan *	pScan,
		const Vector2< kt_double > &	rViewPoint,
		kt_bool	doSmear = `true`
	)			`[private]`

Marks cells where scans' points hit as being occupied. Can smear points as they are added.

Parameters:

	pScan	scan whose points will mark cells in grid as being occupied
	viewPoint	do not add points that belong to scans "opposite" the view point
	doSmear	whether the points will be smeared

Definition at line 842 of file Mapper.cpp.

void karto::ScanMatcher::AddScans	(	const LocalizedRangeScanVector &	rScans,
		Vector2< kt_double >	viewPoint
	)			`[private]`

Marks cells where scans' points hit as being occupied

Parameters:

	rScans	scans whose points will mark cells in grid as being occupied
	viewPoint	do not add points that belong to scans "opposite" the view point

Definition at line 825 of file Mapper.cpp.

void karto::ScanMatcher::ComputeAngularCovariance	(	const Pose2 &	rBestPose,
		kt_double	bestResponse,
		const Pose2 &	rSearchCenter,
		kt_double	searchAngleOffset,
		kt_double	searchAngleResolution,
		Matrix3 &	rCovariance
	)

Computes the angular covariance of the best pose

Parameters:

	rBestPose
	bestResponse
	rSearchCenter
	rSearchAngleOffset
	searchAngleResolution
	rCovariance

Definition at line 771 of file Mapper.cpp.

void karto::ScanMatcher::ComputePositionalCovariance	(	const Pose2 &	rBestPose,
		kt_double	bestResponse,
		const Pose2 &	rSearchCenter,
		const Vector2< kt_double > &	rSearchSpaceOffset,
		const Vector2< kt_double > &	rSearchSpaceResolution,
		kt_double	searchAngleResolution,
		Matrix3 &	rCovariance
	)

Computes the positional covariance of the best pose

Parameters:

	rBestPose
	bestResponse
	rSearchCenter
	rSearchSpaceOffset
	rSearchSpaceResolution
	searchAngleResolution
	rCovariance

Definition at line 668 of file Mapper.cpp.

kt_double karto::ScanMatcher::CorrelateScan	(	LocalizedRangeScan *	pScan,
		const Pose2 &	rSearchCenter,
		const Vector2< kt_double > &	rSearchSpaceOffset,
		const Vector2< kt_double > &	rSearchSpaceResolution,
		kt_double	searchAngleOffset,
		kt_double	searchAngleResolution,
		kt_bool	doPenalize,
		Pose2 &	rMean,
		Matrix3 &	rCovariance,
		kt_bool	doingFineMatch
	)

Finds the best pose for the scan centering the search in the correlation grid at the given pose and search in the space by the vector and angular offsets in increments of the given resolutions

Parameters:

	rScan	scan to match against correlation grid
	rSearchCenter	the center of the search space
	rSearchSpaceOffset	searches poses in the area offset by this vector around search center
	rSearchSpaceResolution	how fine a granularity to search in the search space
	searchAngleOffset	searches poses in the angles offset by this angle around search center
	searchAngleResolution	how fine a granularity to search in the angular search space
	doPenalize	whether to penalize matches further from the search center
	rMean	output parameter of mean (best pose) of match
	rCovariance	output parameter of covariance of match
	doingFineMatch	whether to do a finer search after coarse search

Returns:: strength of response

Definition at line 470 of file Mapper.cpp.

ScanMatcher * karto::ScanMatcher::Create	(	Mapper *	pMapper,
		kt_double	searchSize,
		kt_double	resolution,
		kt_double	smearDeviation,
		kt_double	rangeThreshold
	)			`[static]`

Create a scan matcher with the given parameters

Definition at line 303 of file Mapper.cpp.

PointVectorDouble karto::ScanMatcher::FindValidPoints	(	LocalizedRangeScan *	pScan,
		const Vector2< kt_double > &	rViewPoint
	)			const `[private]`

Compute which points in a scan are on the same side as the given viewpoint

Parameters:

	pScan
	rViewPoint

Returns:: points on the same side

Definition at line 881 of file Mapper.cpp.

CorrelationGrid* karto::ScanMatcher::GetCorrelationGrid ( ) const [inline]

Gets the correlation grid data (for debugging)

Returns:: correlation grid

Definition at line 1006 of file Mapper.h.

kt_double karto::ScanMatcher::GetResponse	(	kt_int32u	angleIndex,
		kt_int32s	gridPositionIndex
	)			const `[private]`

Get response at given position for given rotation (only look up valid points)

Parameters:

	angleIndex
	gridPositionIndex

Returns:: response

Definition at line 944 of file Mapper.cpp.

kt_double karto::ScanMatcher::MatchScan	(	LocalizedRangeScan *	pScan,
		const LocalizedRangeScanVector &	rBaseScans,
		Pose2 &	rMean,
		Matrix3 &	rCovariance,
		kt_bool	doPenalize = `true`,
		kt_bool	doRefineMatch = `true`
	)

Match given scan against set of scans

Parameters:

	pScan	scan being scan-matched
	rBaseScans	set of scans whose points will mark cells in grid as being occupied
	rMean	output parameter of mean (best pose) of match
	rCovariance	output parameter of covariance of match
	doPenalize	whether to penalize matches further from the search center
	doRefineMatch	whether to do finer-grained matching if coarse match is good (default is true)