Public Attributes
sm_params Struct Reference

#include <algos.h>

List of all members.

Public Attributes

double clustering_threshold
int debug_verify_tricks
int do_alpha_test
double do_alpha_test_thresholdDeg
int do_compute_covariance
int do_visibility_test
double epsilon_theta
double epsilon_xy
double first_guess [3]
double gpm_extend_range_deg
int gpm_interval
double gpm_theta_bin_size_deg
struct hsm_params hsm
double laser [3]
LDP laser_ref
LDP laser_sens
double max_angular_correction_deg
double max_correspondence_dist
int max_iterations
double max_linear_correction
double max_reading
double min_reading
int orientation_neighbourhood
double outliers_adaptive_mult
double outliers_adaptive_order
double outliers_maxPerc
int outliers_remove_doubles
int restart
double restart_dt
double restart_dtheta
double restart_threshold_mean_error
double sigma
int use_corr_tricks
int use_ml_weights
int use_point_to_line_distance
int use_sigma_weights

Detailed Description

Definition at line 12 of file algos.h.


Member Data Documentation

For now, a very simple max-distance clustering algorithm is used

Definition at line 75 of file algos.h.

Checks that find_correspondences_tricks give the right answer

Definition at line 117 of file algos.h.

Discard correspondences based on the angles

Definition at line 79 of file algos.h.

Definition at line 80 of file algos.h.

Use the method in http://purl.org/censi/2006/icpcov to compute the matching covariance.

Definition at line 114 of file algos.h.

I believe this trick is documented in one of the papers by Guttman (but I can't find the reference). Or perhaps I was told by him directly.

If you already have a guess of the solution, you can compute the polar angle of the points of one scan in the new position. If the polar angle is not a monotone function of the readings index, it means that the surface is not visible in the next position. If it is not visible, then we don't use it for matching.

This is confusing without a picture! To understand what's going on, make a drawing in which a surface is not visible in one of the poses.

Implemented in the function visibilityTest().

Definition at line 96 of file algos.h.

A threshold for stopping.

Definition at line 31 of file algos.h.

A threshold for stopping.

Definition at line 29 of file algos.h.

Where to start

Definition at line 19 of file algos.h.

Definition at line 131 of file algos.h.

Definition at line 132 of file algos.h.

Definition at line 130 of file algos.h.

Definition at line 134 of file algos.h.

double sm_params::laser[3]

Pose of sensor with respect to robot: used for computing the first estimate given the odometry.

Definition at line 121 of file algos.h.

First scan ("ref"erence scan)

Definition at line 14 of file algos.h.

Second scan ("sens"or scan)

Definition at line 16 of file algos.h.

Maximum angular displacement between scans (deg)

Definition at line 22 of file algos.h.

Maximum distance for a correspondence to be valid

Definition at line 34 of file algos.h.

When to stop

Definition at line 27 of file algos.h.

Maximum translation between scans (m)

Definition at line 24 of file algos.h.

Definition at line 127 of file algos.h.

mark as invalid ( = don't use ) rays outside of this interval

Definition at line 127 of file algos.h.

Number of neighbour rays used to estimate the orientation.

Definition at line 77 of file algos.h.

Definition at line 66 of file algos.h.

Parameters describing a simple adaptive algorithm for discarding. 1) Order the errors. 2) Choose the percentile according to outliers_adaptive_order. (if it is 0.7, get the 70% percentile) 3) Define an adaptive threshold multiplying outliers_adaptive_mult with the value of the error at the chosen percentile. 4) Discard correspondences over the threshold.

This is useful to be conservative; yet remove the biggest errors.

Definition at line 65 of file algos.h.

Percentage of correspondences to consider: if 0.9, always discard the top 10% of correspondences with more error

Definition at line 53 of file algos.h.

Do not allow two different correspondences to share a point

Definition at line 69 of file algos.h.

Restart if error under threshold (0 or 1)

Definition at line 39 of file algos.h.

Displacement for restarting

Definition at line 43 of file algos.h.

Displacement for restarting

Definition at line 45 of file algos.h.

Threshold for restarting

Definition at line 41 of file algos.h.

Noise in the scan

Definition at line 124 of file algos.h.

Use smart tricks for finding correspondences. Only influences speed; not convergence.

Definition at line 36 of file algos.h.

If 1, the field "true_alpha" is used to compute the incidence beta, and the factor (1/cos^2(beta)) used to weight the impact of each correspondence. This works fabolously if doing localization, that is the first scan has no noise. If "true_alpha" is not available, it uses "alpha".

Definition at line 107 of file algos.h.

If 1, use PlICP; if 0, use vanilla ICP.

Definition at line 99 of file algos.h.

Definition at line 110 of file algos.h.


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


csm
Author(s): Andrea Censi
autogenerated on Mon Jan 16 2017 03:48:29