#include <fast_correlative_scan_matcher_3d.h>

Classes
struct	Result
struct	SearchParameters
Public Member Functions
	FastCorrelativeScanMatcher3D (const HybridGrid &hybrid_grid, const HybridGrid low_resolution_hybrid_grid, const Eigen::VectorXf rotational_scan_matcher_histogram, const proto::FastCorrelativeScanMatcherOptions3D &options)
	FastCorrelativeScanMatcher3D (const FastCorrelativeScanMatcher3D &)
std::unique_ptr< Result >	Match (const transform::Rigid3d &global_node_pose, const transform::Rigid3d &global_submap_pose, const TrajectoryNode::Data &constant_data, float min_score) const
std::unique_ptr< Result >	MatchFullSubmap (const Eigen::Quaterniond &global_node_rotation, const Eigen::Quaterniond &global_submap_rotation, const TrajectoryNode::Data &constant_data, float min_score) const
FastCorrelativeScanMatcher3D &	operator= (const FastCorrelativeScanMatcher3D &)
	~FastCorrelativeScanMatcher3D ()
Private Member Functions
Candidate3D	BranchAndBound (const SearchParameters &search_parameters, const std::vector< DiscreteScan3D > &discrete_scans, const std::vector< Candidate3D > &candidates, int candidate_depth, float min_score) const
std::vector< Candidate3D >	ComputeLowestResolutionCandidates (const SearchParameters &search_parameters, const std::vector< DiscreteScan3D > &discrete_scans) const
DiscreteScan3D	DiscretizeScan (const SearchParameters &search_parameters, const sensor::PointCloud &point_cloud, const transform::Rigid3f &pose, float rotational_score) const
std::vector< DiscreteScan3D >	GenerateDiscreteScans (const SearchParameters &search_parameters, const sensor::PointCloud &point_cloud, const Eigen::VectorXf &rotational_scan_matcher_histogram, const Eigen::Quaterniond &gravity_alignment, const transform::Rigid3f &global_node_pose, const transform::Rigid3f &global_submap_pose) const
std::vector< Candidate3D >	GenerateLowestResolutionCandidates (const SearchParameters &search_parameters, int num_discrete_scans) const
transform::Rigid3f	GetPoseFromCandidate (const std::vector< DiscreteScan3D > &discrete_scans, const Candidate3D &candidate) const
std::unique_ptr< Result >	MatchWithSearchParameters (const SearchParameters &search_parameters, const transform::Rigid3f &global_node_pose, const transform::Rigid3f &global_submap_pose, const sensor::PointCloud &point_cloud, const Eigen::VectorXf &rotational_scan_matcher_histogram, const Eigen::Quaterniond &gravity_alignment, float min_score) const
void	ScoreCandidates (int depth, const std::vector< DiscreteScan3D > &discrete_scans, std::vector< Candidate3D > *const candidates) const
Private Attributes
const HybridGrid *const	low_resolution_hybrid_grid_
const proto::FastCorrelativeScanMatcherOptions3D	options_
std::unique_ptr < PrecomputationGridStack3D >	precomputation_grid_stack_
const float	resolution_
RotationalScanMatcher	rotational_scan_matcher_
const int	width_in_voxels_

Detailed Description

Definition at line 66 of file fast_correlative_scan_matcher_3d.h.

Constructor & Destructor Documentation

cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::FastCorrelativeScanMatcher3D	(	const HybridGrid &	hybrid_grid,
		const HybridGrid *	low_resolution_hybrid_grid,
		const Eigen::VectorXf *	rotational_scan_matcher_histogram,
		const proto::FastCorrelativeScanMatcherOptions3D &	options
	)

Definition at line 112 of file fast_correlative_scan_matcher_3d.cc.

cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::~FastCorrelativeScanMatcher3D ( )

Definition at line 125 of file fast_correlative_scan_matcher_3d.cc.

cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::FastCorrelativeScanMatcher3D ( const FastCorrelativeScanMatcher3D & )

Member Function Documentation

Candidate3D cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::BranchAndBound	(	const SearchParameters &	search_parameters,
		const std::vector< DiscreteScan3D > &	discrete_scans,
		const std::vector< Candidate3D > &	candidates,
		int	candidate_depth,
		float	min_score
	)		const `[private]`

Definition at line 377 of file fast_correlative_scan_matcher_3d.cc.

std::vector< Candidate3D > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::ComputeLowestResolutionCandidates	(	const SearchParameters &	search_parameters,
		const std::vector< DiscreteScan3D > &	discrete_scans
	)		const `[private]`

Definition at line 358 of file fast_correlative_scan_matcher_3d.cc.

DiscreteScan3D cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::DiscretizeScan	(	const SearchParameters &	search_parameters,
		const sensor::PointCloud &	point_cloud,
		const transform::Rigid3f &	pose,
		float	rotational_score
	)		const `[private]`

Definition at line 200 of file fast_correlative_scan_matcher_3d.cc.

std::vector< DiscreteScan3D > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::GenerateDiscreteScans	(	const SearchParameters &	search_parameters,
		const sensor::PointCloud &	point_cloud,
		const Eigen::VectorXf &	rotational_scan_matcher_histogram,
		const Eigen::Quaterniond &	gravity_alignment,
		const transform::Rigid3f &	global_node_pose,
		const transform::Rigid3f &	global_submap_pose
	)		const `[private]`

Definition at line 246 of file fast_correlative_scan_matcher_3d.cc.

std::vector< Candidate3D > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::GenerateLowestResolutionCandidates	(	const SearchParameters &	search_parameters,
		int	num_discrete_scans
	)		const `[private]`

Definition at line 298 of file fast_correlative_scan_matcher_3d.cc.

transform::Rigid3f cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::GetPoseFromCandidate	(	const std::vector< DiscreteScan3D > &	discrete_scans,
		const Candidate3D &	candidate
	)		const `[private]`

Definition at line 369 of file fast_correlative_scan_matcher_3d.cc.

std::unique_ptr< FastCorrelativeScanMatcher3D::Result > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::Match	(	const transform::Rigid3d &	global_node_pose,
		const transform::Rigid3d &	global_submap_pose,
		const TrajectoryNode::Data &	constant_data,
		float	min_score
	)		const

Definition at line 128 of file fast_correlative_scan_matcher_3d.cc.

std::unique_ptr< FastCorrelativeScanMatcher3D::Result > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::MatchFullSubmap	(	const Eigen::Quaterniond &	global_node_rotation,
		const Eigen::Quaterniond &	global_submap_rotation,
		const TrajectoryNode::Data &	constant_data,
		float	min_score
	)		const

Definition at line 147 of file fast_correlative_scan_matcher_3d.cc.

std::unique_ptr< FastCorrelativeScanMatcher3D::Result > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::MatchWithSearchParameters	(	const SearchParameters &	search_parameters,
		const transform::Rigid3f &	global_node_pose,
		const transform::Rigid3f &	global_submap_pose,
		const sensor::PointCloud &	point_cloud,
		const Eigen::VectorXf &	rotational_scan_matcher_histogram,
		const Eigen::Quaterniond &	gravity_alignment,
		float	min_score
	)		const `[private]`

Definition at line 173 of file fast_correlative_scan_matcher_3d.cc.

FastCorrelativeScanMatcher3D& cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::operator= ( const FastCorrelativeScanMatcher3D & )

void cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::ScoreCandidates	(	int	depth,
		const std::vector< DiscreteScan3D > &	discrete_scans,
		std::vector< Candidate3D > *const	candidates
	)		const `[private]`