#include <OpenMapper.h>

Public Member Functions
kt_double	CorrelateScan (ScanMatcherGridSet pScanMatcherGridSet, LocalizedLaserScan pScan, const Pose2 &rSearchCenter, const Vector2d &rSearchSpaceOffset, const Vector2d &rSearchSpaceResolution, kt_double searchAngleOffset, kt_double searchAngleResolution, kt_bool doPenalize, Pose2 &rMean, Matrix3 &rCovariance, kt_bool doingFineMatch)
CorrelationGrid *	GetCorrelationGrid () const
Grid< kt_double > *	GetSearchGrid () const
kt_double	MatchScan (LocalizedLaserScan *pScan, const LocalizedLaserScanList &rBaseScans, Pose2 &rMean, Matrix3 &rCovariance, kt_bool doPenalize=true, kt_bool doRefineMatch=true)
virtual	~ScanMatcher ()
Static Public Member Functions
static void	ComputeAngularCovariance (ScanMatcherGridSet *pScanMatcherGridSet, const Pose2 &rBestPose, kt_double bestResponse, const Pose2 &rSearchCenter, kt_double searchAngleOffset, kt_double searchAngleResolution, Matrix3 &rCovariance)
static void	ComputePositionalCovariance (Grid< kt_double > *pSearchSpaceProbs, const Pose2 &rBestPose, kt_double bestResponse, const Pose2 &rSearchCenter, const Vector2d &rSearchSpaceOffset, const Vector2d &rSearchSpaceResolution, kt_double searchAngleResolution, Matrix3 &rCovariance)
static ScanMatcher *	Create (OpenMapper *pOpenMapper, kt_double searchSize, kt_double resolution, kt_double smearDeviation, kt_double rangeThreshold)
static kt_double	GetResponse (ScanMatcherGridSet *pScanMatcherGridSet, kt_int32u angleIndex, kt_int32s gridPositionIndex)
Protected Member Functions
	ScanMatcher (OpenMapper *pOpenMapper)
Static Private Member Functions
static void	AddScan (CorrelationGrid pCorrelationGrid, LocalizedLaserScan pScan, const Vector2d &rViewPoint, kt_bool doSmear=true)
static void	AddScanNew (CorrelationGrid *pCorrelationGrid, const Vector2dList &rValidPoints, kt_bool doSmear=true)
static void	AddScans (CorrelationGrid *pCorrelationGrid, const LocalizedLaserScanList &rScans, const Vector2d &rViewPoint)
static void	AddScansNew (CorrelationGrid *pCorrelationGrid, const LocalizedLaserScanList &rScans, const Vector2d &rViewPoint)
static Vector2dList	FindValidPoints (LocalizedLaserScan *pScan, const Vector2d &rViewPoint)
Private Attributes
OpenMapper *	m_pOpenMapper
SmartPointer< ScanMatcherGridSet >	m_pScanMatcherGridSet
ScanMatcherGridSetBank *	m_pScanMatcherGridSetBank

Detailed Description

Scan matcher

Definition at line 1078 of file OpenMapper.h.

Constructor & Destructor Documentation

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

Destructor

Definition at line 436 of file OpenMapper.cpp.

karto::ScanMatcher::ScanMatcher ( OpenMapper * pOpenMapper ) [inline, protected]

Default constructor

Definition at line 1216 of file OpenMapper.h.

Member Function Documentation

void karto::ScanMatcher::AddScan	(	CorrelationGrid *	pCorrelationGrid,
		LocalizedLaserScan *	pScan,
		const Vector2d &	rViewPoint,
		kt_bool	doSmear = `true`
	)		`[static, private]`

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

Parameters:

pCorrelationGrid	correlation grid used for scan matching
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 1124 of file OpenMapper.cpp.

void karto::ScanMatcher::AddScanNew	(	CorrelationGrid *	pCorrelationGrid,
		const Vector2dList &	rValidPoints,
		kt_bool	doSmear = `true`
	)		`[static, private]`

Definition at line 1157 of file OpenMapper.cpp.

void karto::ScanMatcher::AddScans	(	CorrelationGrid *	pCorrelationGrid,
		const LocalizedLaserScanList &	rScans,
		const Vector2d &	rViewPoint
	)		`[static, private]`

Marks cells where scans' points hit as being occupied

Parameters:

pCorrelationGrid	correlation grid used for scan matching
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 1084 of file OpenMapper.cpp.

void karto::ScanMatcher::AddScansNew	(	CorrelationGrid *	pCorrelationGrid,
		const LocalizedLaserScanList &	rScans,
		const Vector2d &	rViewPoint
	)		`[static, private]`

Definition at line 1095 of file OpenMapper.cpp.

void karto::ScanMatcher::ComputeAngularCovariance	(	ScanMatcherGridSet *	pScanMatcherGridSet,
		const Pose2 &	rBestPose,
		kt_double	bestResponse,
		const Pose2 &	rSearchCenter,
		kt_double	searchAngleOffset,
		kt_double	searchAngleResolution,
		Matrix3 &	rCovariance
	)		`[static]`

Computes the angular covariance of the best pose

Parameters:

pScanMatcherGridSet	set of grids used for scan matching
rBestPose	best pose
bestResponse	best response
rSearchCenter	center of search space
searchAngleOffset	amount to search in each angular direction
searchAngleResolution	angular resolution of search
rCovariance	output parameter covariance

Definition at line 1033 of file OpenMapper.cpp.

void karto::ScanMatcher::ComputePositionalCovariance	(	Grid< kt_double > *	pSearchSpaceProbs,
		const Pose2 &	rBestPose,
		kt_double	bestResponse,
		const Pose2 &	rSearchCenter,
		const Vector2d &	rSearchSpaceOffset,
		const Vector2d &	rSearchSpaceResolution,
		kt_double	searchAngleResolution,
		Matrix3 &	rCovariance
	)		`[static]`

Computes the positional covariance of the best pose

Parameters:

pSearchSpaceProbs	probabilities of poses over search space
rBestPose	best pose
bestResponse	best response
rSearchCenter	center of search space
rSearchSpaceOffset	amount to search in each direction
rSearchSpaceResolution	grid resolution of search
searchAngleResolution	angular resolution of search
rCovariance	output parameter covariance

Definition at line 939 of file OpenMapper.cpp.

kt_double karto::ScanMatcher::CorrelateScan	(	ScanMatcherGridSet *	pScanMatcherGridSet,
		LocalizedLaserScan *	pScan,
		const Pose2 &	rSearchCenter,
		const Vector2d &	rSearchSpaceOffset,
		const Vector2d &	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:

pScanMatcherGridSet	set of grids used for scan matching
pScan	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 718 of file OpenMapper.cpp.

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

Creates a scan matcher with the given parameters

Parameters:

pOpenMapper	mapper
searchSize	how much to search in each direction
resolution	grid resolution
smearDeviation	amount to smear when adding scans to grid
rangeThreshold	cutoff for range readings

Returns:: scan matcher

Definition at line 441 of file OpenMapper.cpp.

Vector2dList karto::ScanMatcher::FindValidPoints	(	LocalizedLaserScan *	pScan,
		const Vector2d &	rViewPoint
	)		`[static, private]`

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

Parameters:

pScan	scan
rViewPoint	viewpoint

Returns:: points on the same side

Definition at line 1188 of file OpenMapper.cpp.

CorrelationGrid * karto::ScanMatcher::GetCorrelationGrid ( ) const

Gets the correlation grid data (for debugging). NOTE: This only works in single-threaded mode.

Exceptions:

Exception if not in single-threaded mode.

Returns:: correlation grid

Definition at line 1287 of file OpenMapper.cpp.

kt_double karto::ScanMatcher::GetResponse	(	ScanMatcherGridSet *	pScanMatcherGridSet,
		kt_int32u	angleIndex,
		kt_int32s	gridPositionIndex
	)		`[static]`

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

Parameters:

pScanMatcherGridSet	set of grids used for scan matching
angleIndex	index of angle
gridPositionIndex	index of grid position

Returns:: response

Definition at line 1245 of file OpenMapper.cpp.

Grid< kt_double > * karto::ScanMatcher::GetSearchGrid ( ) const

Gets the search grid data (for debugging). NOTE: This only works in single-threaded mode.

Exceptions:

Exception if not in single-threaded mode.

Returns:: search grid

Definition at line 1299 of file OpenMapper.cpp.

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

Matches 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

Returns:: strength of response

Definition at line 496 of file OpenMapper.cpp.

Member Data Documentation

OpenMapper* karto::ScanMatcher::m_pOpenMapper [private]

Definition at line 1224 of file OpenMapper.h.

SmartPointer<ScanMatcherGridSet> karto::ScanMatcher::m_pScanMatcherGridSet [private]

Definition at line 1226 of file OpenMapper.h.

ScanMatcherGridSetBank* karto::ScanMatcher::m_pScanMatcherGridSetBank [private]

Definition at line 1227 of file OpenMapper.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation