#include <Mapper.h>
Private Member Functions | |
| kt_bool | HasMovedEnough (LocalizedRangeScan *pScan, LocalizedRangeScan *pLastScan) const |
| void | InitializeParameters () |
| Mapper (const Mapper &) | |
| const Mapper & | operator= (const Mapper &) |
Friends | |
| class | MapperGraph |
| class | ScanMatcher |
Additional Inherited Members | |
 Protected Member Functions inherited from karto::NonCopyable | |
| NonCopyable () | |
| virtual | ~NonCopyable () |
Detailed Description
Graph SLAM mapper. Creates a map given a set of LocalizedRangeScans The current Karto implementation is a proprietary, high-performance scan-matching algorithm that constructs a map from individual range scans and corrects for errors in the range and odometry data.
The following parameters can be set on the Mapper.
UseScanMatching (ParameterBool)
When set to true, the mapper will use a scan matching algorithm. In most real-world situations this should be set to true so that the mapper algorithm can correct for noise and errors in odometry and scan data. In some simulator environments where the simulated scan and odometry data are very accurate, the scan matching algorithm can produce worse results. In those cases set to false to improve results. Default value is true.
UseScanBarycenter (ParameterBool)
UseResponseExpansion (ParameterBool)
RangeThreshold (ParameterDouble - meters)
The range threshold is used to truncate range scan distance measurement readings. The threshold should be set such that adjacent range readings in a scan will generally give "solid" coverage of objects.
Having solid coverage depends on the map resolution and the angular resolution of the range scan device. The following are the recommended threshold values for the corresponding map resolution and range finder resolution values:
| Map Resolution | Laser Angular Resolution | ||
| 1.0 degree | 0.5 degree | 0.25 degree | |
| 0.1 | 5.7m | 11.4m | 22.9m |
| 0.05 | 2.8m | 5.7m | 11.4m |
| 0.01 | 0.5m | 1.1m | 2.3m |
Note that the value of RangeThreshold should be adjusted taking into account the values of MinimumTravelDistance and MinimumTravelHeading (see also below). By incorporating scans into the map more frequently, the RangeThreshold value can be increased as the additional scans will "fill in" the gaps of objects at greater distances where there is less solid coverage.
Default value is 12.0 (meters).
MinimumTravelDistance (ParameterDouble - meters)
Sets the minimum travel between scans. If a new scan's position is more than minimumDistance from the previous scan, the mapper will use the data from the new scan. Otherwise, it will discard the new scan if it also does not meet the minimum change in heading requirement. For performance reasons, generally it is a good idea to only process scans if the robot has moved a reasonable amount. Default value is 0.3 (meters).
MinimumTravelHeading (ParameterDouble - radians)
Sets the minimum heading change between scans. If a new scan's heading is more than minimumHeading from the previous scan, the mapper will use the data from the new scan. Otherwise, it will discard the new scan if it also does not meet the minimum travel distance requirement. For performance reasons, generally it is a good idea to only process scans if the robot has moved a reasonable amount. Default value is 0.08726646259971647 (radians) - 5 degrees.
ScanBufferSize (ParameterIn32u - size)
Scan buffer size is the length of the scan chain stored for scan matching. "ScanBufferSize" should be set to approximately "ScanBufferMaximumScanDistance" / "MinimumTravelDistance". The idea is to get an area approximately 20 meters long for scan matching. For example, if we add scans every MinimumTravelDistance = 0.3 meters, then "ScanBufferSize" should be 20 / 0.3 = 67.) Default value is 67.
ScanBufferMaximumScanDistance (ParameterDouble - meters)
Scan buffer maximum scan distance is the maximum distance between the first and last scans in the scan chain stored for matching. Default value is 20.0.
CorrelationSearchSpaceDimension (ParameterDouble - meters)
The size of the correlation grid used by the matcher. Default value is 0.3 meters which tells the matcher to use a 30cm x 30cm grid.
CorrelationSearchSpaceResolution (ParameterDouble - meters)
The resolution (size of a grid cell) of the correlation grid. Default value is 0.01 meters.
CorrelationSearchSpaceSmearDeviation (ParameterDouble - meters)
The robot position is smeared by this value in X and Y to create a smoother response. Default value is 0.03 meters.
LinkMatchMinimumResponseFine (ParameterDouble - probability (>= 0.0, <= 1.0))
Scans are linked only if the correlation response value is greater than this value. Default value is 0.4
LinkScanMaximumDistance (ParameterDouble - meters)
Maximum distance between linked scans. Scans that are farther apart will not be linked regardless of the correlation response value. Default value is 6.0 meters.
LoopSearchSpaceDimension (ParameterDouble - meters)
Dimension of the correlation grid used by the loop closure detection algorithm Default value is 4.0 meters.
LoopSearchSpaceResolution (ParameterDouble - meters)
Coarse resolution of the correlation grid used by the matcher to determine a possible loop closure. Default value is 0.05 meters.
LoopSearchSpaceSmearDeviation (ParameterDouble - meters)
Smearing distance in the correlation grid used by the matcher to determine a possible loop closure match. Default value is 0.03 meters.
LoopSearchMaximumDistance (ParameterDouble - meters)
Scans less than this distance from the current position will be considered for a match in loop closure. Default value is 4.0 meters.
LoopMatchMinimumChainSize (ParameterIn32s)
When the loop closure detection finds a candidate it must be part of a large set of linked scans. If the chain of scans is less than this value we do not attempt to close the loop. Default value is 10.
LoopMatchMaximumVarianceCoarse (ParameterDouble)
The co-variance values for a possible loop closure have to be less than this value to consider a viable solution. This applies to the coarse search. Default value is 0.16.
LoopMatchMinimumResponseCoarse (ParameterDouble - probability (>= 0.0, <= 1.0))
If response is larger then this then initiate loop closure search at the coarse resolution. Default value is 0.7.
LoopMatchMinimumResponseFine (ParameterDouble - probability (>= 0.0, <= 1.0))
If response is larger then this then initiate loop closure search at the fine resolution. Default value is 0.5.
Constructor & Destructor Documentation
◆ Mapper() [1/3]
| karto::Mapper::Mapper | ( | ) |
Default constructor
Definition at line 1342 of file Mapper.cpp.
◆ Mapper() [2/3]
| karto::Mapper::Mapper | ( | const std::string & | rName | ) |
Constructor a mapper with a name
- Parameters
-
rName mapper name
Default constructor
Definition at line 1356 of file Mapper.cpp.
◆ ~Mapper()
|
virtual |
Destructor
Definition at line 1370 of file Mapper.cpp.
◆ Mapper() [3/3]
|
private |
Restrict the copy constructor
Member Function Documentation
◆ AddListener()
| void karto::Mapper::AddListener | ( | MapperListener * | pListener | ) |
Add a listener to mapper
- Parameters
-
pListener Adds a listener pListener
Definition at line 2071 of file Mapper.cpp.
◆ FireBeginLoopClosure()
| void karto::Mapper::FireBeginLoopClosure | ( | const std::string & | rInfo | ) | const |
Fire a message before loop closure to listeners
- Parameters
-
rInfo
Definition at line 2123 of file Mapper.cpp.
◆ FireDebug()
| void karto::Mapper::FireDebug | ( | const std::string & | rInfo | ) | const |
◆ FireEndLoopClosure()
| void karto::Mapper::FireEndLoopClosure | ( | const std::string & | rInfo | ) | const |
Fire a message after loop closure to listeners
- Parameters
-
rInfo
Definition at line 2136 of file Mapper.cpp.
◆ FireInfo()
| void karto::Mapper::FireInfo | ( | const std::string & | rInfo | ) | const |
◆ FireLoopClosureCheck()
| void karto::Mapper::FireLoopClosureCheck | ( | const std::string & | rInfo | ) | const |
Fire a message upon checking for loop closure to listeners
- Parameters
-
rInfo
Definition at line 2110 of file Mapper.cpp.
◆ GetAllProcessedScans()
|
virtual |
Returns all processed scans added to the mapper. NOTE: The returned scans have their corrected pose updated.
- Returns
- list of scans received and processed by the mapper. If no scans have been processed, return an empty list.
Gets all the processed scans
- Returns
- all scans
Definition at line 2055 of file Mapper.cpp.
◆ GetGraph()
|
virtual |
◆ GetLoopScanMatcher()
|
virtual |
◆ GetMapperSensorManager()
|
inline |
◆ getParamAngleVariancePenalty()
| double karto::Mapper::getParamAngleVariancePenalty | ( | ) |
Definition at line 1704 of file Mapper.cpp.
◆ getParamCoarseAngleResolution()
| double karto::Mapper::getParamCoarseAngleResolution | ( | ) |
Definition at line 1719 of file Mapper.cpp.
◆ getParamCoarseSearchAngleOffset()
| double karto::Mapper::getParamCoarseSearchAngleOffset | ( | ) |
Definition at line 1714 of file Mapper.cpp.
◆ getParamCorrelationSearchSpaceDimension()
| double karto::Mapper::getParamCorrelationSearchSpaceDimension | ( | ) |
Definition at line 1665 of file Mapper.cpp.
◆ getParamCorrelationSearchSpaceResolution()
| double karto::Mapper::getParamCorrelationSearchSpaceResolution | ( | ) |
Definition at line 1670 of file Mapper.cpp.
◆ getParamCorrelationSearchSpaceSmearDeviation()
| double karto::Mapper::getParamCorrelationSearchSpaceSmearDeviation | ( | ) |
Definition at line 1675 of file Mapper.cpp.
◆ getParamDistanceVariancePenalty()
| double karto::Mapper::getParamDistanceVariancePenalty | ( | ) |
Definition at line 1699 of file Mapper.cpp.
◆ getParamDoLoopClosing()
| bool karto::Mapper::getParamDoLoopClosing | ( | ) |
Definition at line 1638 of file Mapper.cpp.
◆ getParamFineSearchAngleOffset()
| double karto::Mapper::getParamFineSearchAngleOffset | ( | ) |
Definition at line 1709 of file Mapper.cpp.
◆ getParamLinkMatchMinimumResponseFine()
| double karto::Mapper::getParamLinkMatchMinimumResponseFine | ( | ) |
Definition at line 1623 of file Mapper.cpp.
◆ getParamLinkScanMaximumDistance()
| double karto::Mapper::getParamLinkScanMaximumDistance | ( | ) |
Definition at line 1628 of file Mapper.cpp.
◆ getParamLoopMatchMaximumVarianceCoarse()
| double karto::Mapper::getParamLoopMatchMaximumVarianceCoarse | ( | ) |
Definition at line 1648 of file Mapper.cpp.
◆ getParamLoopMatchMinimumChainSize()
| int karto::Mapper::getParamLoopMatchMinimumChainSize | ( | ) |
Definition at line 1643 of file Mapper.cpp.
◆ getParamLoopMatchMinimumResponseCoarse()
| double karto::Mapper::getParamLoopMatchMinimumResponseCoarse | ( | ) |
Definition at line 1653 of file Mapper.cpp.
◆ getParamLoopMatchMinimumResponseFine()
| double karto::Mapper::getParamLoopMatchMinimumResponseFine | ( | ) |
Definition at line 1658 of file Mapper.cpp.
◆ getParamLoopSearchMaximumDistance()
| double karto::Mapper::getParamLoopSearchMaximumDistance | ( | ) |
Definition at line 1633 of file Mapper.cpp.
◆ getParamLoopSearchSpaceDimension()
| double karto::Mapper::getParamLoopSearchSpaceDimension | ( | ) |
Definition at line 1682 of file Mapper.cpp.
◆ getParamLoopSearchSpaceResolution()
| double karto::Mapper::getParamLoopSearchSpaceResolution | ( | ) |
Definition at line 1687 of file Mapper.cpp.
◆ getParamLoopSearchSpaceSmearDeviation()
| double karto::Mapper::getParamLoopSearchSpaceSmearDeviation | ( | ) |
Definition at line 1692 of file Mapper.cpp.
◆ getParamMinimumAnglePenalty()
| double karto::Mapper::getParamMinimumAnglePenalty | ( | ) |
Definition at line 1724 of file Mapper.cpp.
◆ getParamMinimumDistancePenalty()
| double karto::Mapper::getParamMinimumDistancePenalty | ( | ) |
Definition at line 1729 of file Mapper.cpp.
◆ getParamMinimumTimeInterval()
| double karto::Mapper::getParamMinimumTimeInterval | ( | ) |
Definition at line 1598 of file Mapper.cpp.
◆ getParamMinimumTravelDistance()
| double karto::Mapper::getParamMinimumTravelDistance | ( | ) |
Definition at line 1603 of file Mapper.cpp.
◆ getParamMinimumTravelHeading()
| double karto::Mapper::getParamMinimumTravelHeading | ( | ) |
Definition at line 1608 of file Mapper.cpp.
◆ getParamScanBufferMaximumScanDistance()
| double karto::Mapper::getParamScanBufferMaximumScanDistance | ( | ) |
Definition at line 1618 of file Mapper.cpp.
◆ getParamScanBufferSize()
| int karto::Mapper::getParamScanBufferSize | ( | ) |
Definition at line 1613 of file Mapper.cpp.
◆ getParamUseResponseExpansion()
| bool karto::Mapper::getParamUseResponseExpansion | ( | ) |
Definition at line 1734 of file Mapper.cpp.
◆ getParamUseScanBarycenter()
| bool karto::Mapper::getParamUseScanBarycenter | ( | ) |
Definition at line 1593 of file Mapper.cpp.
◆ getParamUseScanMatching()
| bool karto::Mapper::getParamUseScanMatching | ( | ) |
Definition at line 1588 of file Mapper.cpp.
◆ GetSequentialScanMatcher()
|
virtual |
Gets the sequential scan matcher
- Returns
- sequential scan matcher
Definition at line 2159 of file Mapper.cpp.
◆ HasMovedEnough()
|
private |
Test if the scan is "sufficiently far" from the last scan added.
- Parameters
-
pScan scan to be checked pLastScan last scan added to mapper
- Returns
- true if the scan is "sufficiently far" from the last scan added or the scan is the first scan to be added
Is the scan sufficiently far from the last scan?
- Parameters
-
pScan pLastScan
- Returns
- true if the scans are sufficiently far
Definition at line 2016 of file Mapper.cpp.
◆ Initialize()
| void karto::Mapper::Initialize | ( | kt_double | rangeThreshold | ) |
Allocate memory needed for mapping
- Parameters
-
rangeThreshold
Definition at line 1893 of file Mapper.cpp.
◆ InitializeParameters()
|
private |
Definition at line 1377 of file Mapper.cpp.
◆ operator=()
◆ Process() [1/2]
|
virtual |
Process a localized range scan for incorporation into the map. The scan must be identified with a range finder device. Once added to a map, the corrected pose information in the localized scan will be updated to the correct pose as determined by the mapper.
- Parameters
-
pScan A localized range scan that has pose information associated directly with the scan data. The pose is that of the range device originating the scan. Note that the mapper will set corrected pose information in the scan object.
- Returns
- true if the scan was added successfully, false otherwise
Definition at line 1933 of file Mapper.cpp.
◆ Process() [2/2]
◆ RemoveListener()
| void karto::Mapper::RemoveListener | ( | MapperListener * | pListener | ) |
Remove a listener to mapper
- Parameters
-
pListener Removes a listener pListener
Definition at line 2080 of file Mapper.cpp.
◆ Reset()
|
virtual |
Resets the mapper. Deallocate memory allocated in Initialize()
Implements karto::Module.
Definition at line 1914 of file Mapper.cpp.
◆ setParamAngleVariancePenalty()
| void karto::Mapper::setParamAngleVariancePenalty | ( | double | d | ) |
Definition at line 1856 of file Mapper.cpp.
◆ setParamCoarseAngleResolution()
| void karto::Mapper::setParamCoarseAngleResolution | ( | double | d | ) |
Definition at line 1871 of file Mapper.cpp.
◆ setParamCoarseSearchAngleOffset()
| void karto::Mapper::setParamCoarseSearchAngleOffset | ( | double | d | ) |
Definition at line 1866 of file Mapper.cpp.
◆ setParamCorrelationSearchSpaceDimension()
| void karto::Mapper::setParamCorrelationSearchSpaceDimension | ( | double | d | ) |
Definition at line 1817 of file Mapper.cpp.
◆ setParamCorrelationSearchSpaceResolution()
| void karto::Mapper::setParamCorrelationSearchSpaceResolution | ( | double | d | ) |
Definition at line 1822 of file Mapper.cpp.
◆ setParamCorrelationSearchSpaceSmearDeviation()
| void karto::Mapper::setParamCorrelationSearchSpaceSmearDeviation | ( | double | d | ) |
Definition at line 1827 of file Mapper.cpp.
◆ setParamDistanceVariancePenalty()
| void karto::Mapper::setParamDistanceVariancePenalty | ( | double | d | ) |
Definition at line 1851 of file Mapper.cpp.
◆ setParamDoLoopClosing()
| void karto::Mapper::setParamDoLoopClosing | ( | bool | b | ) |
Definition at line 1791 of file Mapper.cpp.
◆ setParamFineSearchAngleOffset()
| void karto::Mapper::setParamFineSearchAngleOffset | ( | double | d | ) |
Definition at line 1861 of file Mapper.cpp.
◆ setParamLinkMatchMinimumResponseFine()
| void karto::Mapper::setParamLinkMatchMinimumResponseFine | ( | double | d | ) |
Definition at line 1776 of file Mapper.cpp.
◆ setParamLinkScanMaximumDistance()
| void karto::Mapper::setParamLinkScanMaximumDistance | ( | double | d | ) |
Definition at line 1781 of file Mapper.cpp.
◆ setParamLoopMatchMaximumVarianceCoarse()
| void karto::Mapper::setParamLoopMatchMaximumVarianceCoarse | ( | double | d | ) |
Definition at line 1801 of file Mapper.cpp.
◆ setParamLoopMatchMinimumChainSize()
| void karto::Mapper::setParamLoopMatchMinimumChainSize | ( | int | i | ) |
Definition at line 1796 of file Mapper.cpp.
◆ setParamLoopMatchMinimumResponseCoarse()
| void karto::Mapper::setParamLoopMatchMinimumResponseCoarse | ( | double | d | ) |
Definition at line 1806 of file Mapper.cpp.
◆ setParamLoopMatchMinimumResponseFine()
| void karto::Mapper::setParamLoopMatchMinimumResponseFine | ( | double | d | ) |
Definition at line 1811 of file Mapper.cpp.
◆ setParamLoopSearchMaximumDistance()
| void karto::Mapper::setParamLoopSearchMaximumDistance | ( | double | d | ) |
Definition at line 1786 of file Mapper.cpp.
◆ setParamLoopSearchSpaceDimension()
| void karto::Mapper::setParamLoopSearchSpaceDimension | ( | double | d | ) |
Definition at line 1834 of file Mapper.cpp.
◆ setParamLoopSearchSpaceResolution()
| void karto::Mapper::setParamLoopSearchSpaceResolution | ( | double | d | ) |
Definition at line 1839 of file Mapper.cpp.
◆ setParamLoopSearchSpaceSmearDeviation()
| void karto::Mapper::setParamLoopSearchSpaceSmearDeviation | ( | double | d | ) |
Definition at line 1844 of file Mapper.cpp.
◆ setParamMinimumAnglePenalty()
| void karto::Mapper::setParamMinimumAnglePenalty | ( | double | d | ) |
Definition at line 1876 of file Mapper.cpp.
◆ setParamMinimumDistancePenalty()
| void karto::Mapper::setParamMinimumDistancePenalty | ( | double | d | ) |
Definition at line 1881 of file Mapper.cpp.
◆ setParamMinimumTimeInterval()
| void karto::Mapper::setParamMinimumTimeInterval | ( | double | d | ) |
Definition at line 1751 of file Mapper.cpp.
◆ setParamMinimumTravelDistance()
| void karto::Mapper::setParamMinimumTravelDistance | ( | double | d | ) |
Definition at line 1756 of file Mapper.cpp.
◆ setParamMinimumTravelHeading()
| void karto::Mapper::setParamMinimumTravelHeading | ( | double | d | ) |
Definition at line 1761 of file Mapper.cpp.
◆ setParamScanBufferMaximumScanDistance()
| void karto::Mapper::setParamScanBufferMaximumScanDistance | ( | double | d | ) |
Definition at line 1771 of file Mapper.cpp.
◆ setParamScanBufferSize()
| void karto::Mapper::setParamScanBufferSize | ( | int | i | ) |
Definition at line 1766 of file Mapper.cpp.
◆ setParamUseResponseExpansion()
| void karto::Mapper::setParamUseResponseExpansion | ( | bool | b | ) |
Definition at line 1886 of file Mapper.cpp.
◆ setParamUseScanBarycenter()
| void karto::Mapper::setParamUseScanBarycenter | ( | bool | b | ) |
Definition at line 1746 of file Mapper.cpp.
◆ setParamUseScanMatching()
| void karto::Mapper::setParamUseScanMatching | ( | bool | b | ) |
Definition at line 1741 of file Mapper.cpp.
◆ SetScanSolver()
| void karto::Mapper::SetScanSolver | ( | ScanSolver * | pSolver | ) |
Set scan optimizer used by mapper when closing the loop
- Parameters
-
pSolver
Definition at line 2149 of file Mapper.cpp.
◆ SetUseScanMatching()
|
inline |
◆ TryCloseLoop()
|
inline |
Friends And Related Function Documentation
◆ MapperGraph
|
friend |
◆ ScanMatcher
|
friend |
Member Data Documentation
◆ m_Initialized
◆ m_Listeners
|
private |
◆ m_pAngleVariancePenalty
◆ m_pCoarseAngleResolution
◆ m_pCoarseSearchAngleOffset
◆ m_pCorrelationSearchSpaceDimension
◆ m_pCorrelationSearchSpaceResolution
◆ m_pCorrelationSearchSpaceSmearDeviation
◆ m_pDistanceVariancePenalty
◆ m_pDoLoopClosing
◆ m_pFineSearchAngleOffset
◆ m_pGraph
|
private |
◆ m_pLinkMatchMinimumResponseFine
◆ m_pLinkScanMaximumDistance
◆ m_pLoopMatchMaximumVarianceCoarse
◆ m_pLoopMatchMinimumChainSize
◆ m_pLoopMatchMinimumResponseCoarse
◆ m_pLoopMatchMinimumResponseFine
◆ m_pLoopSearchMaximumDistance
◆ m_pLoopSearchSpaceDimension
◆ m_pLoopSearchSpaceResolution
◆ m_pLoopSearchSpaceSmearDeviation
◆ m_pMapperSensorManager
|
private |
◆ m_pMinimumAnglePenalty
◆ m_pMinimumDistancePenalty
◆ m_pMinimumTimeInterval
Sets the minimum time between scans. If a new scan's time stamp is longer than MinimumTimeInterval from the previously processed scan, the mapper will use the data from the new scan. Otherwise, it will discard the new scan if it also does not meet the minimum travel distance and heading requirements. For performance reasons, it is generally it is a good idea to only process scans if a reasonable amount of time has passed. This parameter is particularly useful when there is a need to process scans while the robot is stationary. Default value is 3600 (seconds), effectively disabling this parameter.
◆ m_pMinimumTravelDistance
Sets the minimum travel between scans. If a new scan's position is more than minimumTravelDistance from the previous scan, the mapper will use the data from the new scan. Otherwise, it will discard the new scan if it also does not meet the minimum change in heading requirement. For performance reasons, generally it is a good idea to only process scans if the robot has moved a reasonable amount. Default value is 0.2 (meters).
◆ m_pMinimumTravelHeading
Sets the minimum heading change between scans. If a new scan's heading is more than minimumTravelHeading from the previous scan, the mapper will use the data from the new scan. Otherwise, it will discard the new scan if it also does not meet the minimum travel distance requirement. For performance reasons, generally it is a good idea to only process scans if the robot has moved a reasonable amount. Default value is 10 degrees.
◆ m_pScanBufferMaximumScanDistance
◆ m_pScanBufferSize
Scan buffer size is the length of the scan chain stored for scan matching. "scanBufferSize" should be set to approximately "scanBufferMaximumScanDistance" / "minimumTravelDistance". The idea is to get an area approximately 20 meters long for scan matching. For example, if we add scans every minimumTravelDistance == 0.3 meters, then "scanBufferSize" should be 20 / 0.3 = 67.) Default value is 67.
◆ m_pScanOptimizer
|
private |
◆ m_pSequentialScanMatcher
|
private |
◆ m_pUseResponseExpansion
◆ m_pUseScanBarycenter
◆ m_pUseScanMatching
When set to true, the mapper will use a scan matching algorithm. In most real-world situations this should be set to true so that the mapper algorithm can correct for noise and errors in odometry and scan data. In some simulator environments where the simulated scan and odometry data are very accurate, the scan matching algorithm can produce worse results. In those cases set this to false to improve results. Default value is true.
The documentation for this class was generated from the following files: