#include <fast_correlative_scan_matcher.h>
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| FastCorrelativeScanMatcher (const HybridGrid &hybrid_grid, const std::vector< mapping::TrajectoryNode > &nodes, const proto::FastCorrelativeScanMatcherOptions &options) |
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| FastCorrelativeScanMatcher (const FastCorrelativeScanMatcher &)=delete |
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bool | Match (const transform::Rigid3d &initial_pose_estimate, const sensor::PointCloud &coarse_point_cloud, const sensor::PointCloud &fine_point_cloud, float min_score, float *score, transform::Rigid3d *pose_estimate) const |
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bool | MatchFullSubmap (const Eigen::Quaterniond &gravity_alignment, const sensor::PointCloud &coarse_point_cloud, const sensor::PointCloud &fine_point_cloud, float min_score, float *score, transform::Rigid3d *pose_estimate) const |
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FastCorrelativeScanMatcher & | operator= (const FastCorrelativeScanMatcher &)=delete |
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| ~FastCorrelativeScanMatcher () |
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Candidate | BranchAndBound (const SearchParameters &search_parameters, const std::vector< DiscreteScan > &discrete_scans, const std::vector< Candidate > &candidates, int candidate_depth, float min_score) const |
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std::vector< Candidate > | ComputeLowestResolutionCandidates (const SearchParameters &search_parameters, const std::vector< DiscreteScan > &discrete_scans) const |
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DiscreteScan | DiscretizeScan (const SearchParameters &search_parameters, const sensor::PointCloud &point_cloud, const transform::Rigid3f &pose) const |
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std::vector< DiscreteScan > | GenerateDiscreteScans (const SearchParameters &search_parameters, const sensor::PointCloud &coarse_point_cloud, const sensor::PointCloud &fine_point_cloud, const transform::Rigid3f &initial_pose) const |
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std::vector< Candidate > | GenerateLowestResolutionCandidates (const SearchParameters &search_parameters, int num_discrete_scans) const |
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bool | MatchWithSearchParameters (const SearchParameters &search_parameters, const transform::Rigid3d &initial_pose_estimate, const sensor::PointCloud &coarse_point_cloud, const sensor::PointCloud &fine_point_cloud, float min_score, float *score, transform::Rigid3d *pose_estimate) const |
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void | ScoreCandidates (int depth, const std::vector< DiscreteScan > &discrete_scans, std::vector< Candidate > *const candidates) const |
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cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::FastCorrelativeScanMatcher |
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const HybridGrid & |
hybrid_grid, |
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const std::vector< mapping::TrajectoryNode > & |
nodes, |
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const proto::FastCorrelativeScanMatcherOptions & |
options |
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cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::~FastCorrelativeScanMatcher |
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cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::FastCorrelativeScanMatcher |
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const FastCorrelativeScanMatcher & |
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delete |
Candidate cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::BranchAndBound |
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const SearchParameters & |
search_parameters, |
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const std::vector< DiscreteScan > & |
discrete_scans, |
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const std::vector< Candidate > & |
candidates, |
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int |
candidate_depth, |
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float |
min_score |
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std::vector< Candidate > cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::ComputeLowestResolutionCandidates |
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const SearchParameters & |
search_parameters, |
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const std::vector< DiscreteScan > & |
discrete_scans |
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std::vector< Candidate > cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::GenerateLowestResolutionCandidates |
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const SearchParameters & |
search_parameters, |
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int |
num_discrete_scans |
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bool cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::MatchFullSubmap |
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const Eigen::Quaterniond & |
gravity_alignment, |
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const sensor::PointCloud & |
coarse_point_cloud, |
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const sensor::PointCloud & |
fine_point_cloud, |
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float |
min_score, |
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float * |
score, |
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transform::Rigid3d * |
pose_estimate |
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void cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::ScoreCandidates |
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int |
depth, |
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const std::vector< DiscreteScan > & |
discrete_scans, |
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std::vector< Candidate > *const |
candidates |
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const proto::FastCorrelativeScanMatcherOptions cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::options_ |
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std::unique_ptr<PrecomputationGridStack> cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::precomputation_grid_stack_ |
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const float cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::resolution_ |
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RotationalScanMatcher cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::rotational_scan_matcher_ |
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const int cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::width_in_voxels_ |
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The documentation for this class was generated from the following files: