cartographer::mapping::scan_matching Namespace Reference

Classes
struct	Candidate2D
struct	Candidate3D
class	CeresScanMatcher2D
class	CeresScanMatcher3D
struct	DiscreteScan3D
class	FastCorrelativeScanMatcher2D
class	FastCorrelativeScanMatcher3D
class	InterpolatedGrid
class	InterpolatedTSDF2D
class	OccupiedSpaceCostFunction3D
class	PrecomputationGrid2D
class	PrecomputationGrid3D
class	PrecomputationGridStack2D
class	PrecomputationGridStack3D
class	RealTimeCorrelativeScanMatcher2D
class	RealTimeCorrelativeScanMatcher3D
class	RotationalScanMatcher
class	RotationDeltaCostFunctor2D
class	RotationDeltaCostFunctor3D
struct	SearchParameters
class	TranslationDeltaCostFunctor2D
class	TranslationDeltaCostFunctor3D
class	TSDFMatchCostFunction2D
Typedefs
typedef std::vector < Eigen::Array2i >	DiscreteScan2D
Functions
PrecomputationGrid3D	ConvertToPrecomputationGrid (const HybridGrid &hybrid_grid)
proto::CeresScanMatcherOptions2D	CreateCeresScanMatcherOptions2D (common::LuaParameterDictionary *const parameter_dictionary)
proto::CeresScanMatcherOptions3D	CreateCeresScanMatcherOptions3D (common::LuaParameterDictionary *const parameter_dictionary)
proto::FastCorrelativeScanMatcherOptions2D	CreateFastCorrelativeScanMatcherOptions2D (common::LuaParameterDictionary *const parameter_dictionary)
proto::FastCorrelativeScanMatcherOptions3D	CreateFastCorrelativeScanMatcherOptions3D (common::LuaParameterDictionary *const parameter_dictionary)
ceres::CostFunction *	CreateOccupiedSpaceCostFunction2D (const double scaling_factor, const sensor::PointCloud &point_cloud, const Grid2D &grid)
proto::RealTimeCorrelativeScanMatcherOptions	CreateRealTimeCorrelativeScanMatcherOptions (common::LuaParameterDictionary *const parameter_dictionary)
ceres::CostFunction *	CreateTSDFMatchCostFunction2D (const double scaling_factor, const sensor::PointCloud &point_cloud, const TSDF2D &tsdf)
std::vector< DiscreteScan2D >	DiscretizeScans (const MapLimits &map_limits, const std::vector< sensor::PointCloud > &scans, const Eigen::Translation2f &initial_translation)
std::vector< sensor::PointCloud >	GenerateRotatedScans (const sensor::PointCloud &point_cloud, const SearchParameters &search_parameters)
PrecomputationGrid3D	PrecomputeGrid (const PrecomputationGrid3D &grid, const bool half_resolution, const Eigen::Array3i &shift)
Variables
std::function< float(const transform::Rigid3f &)>	CreateLowResolutionMatcher (const HybridGrid *low_resolution_grid, const sensor::PointCloud *points)

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Typedef Documentation

typedef std::vector<Eigen::Array2i> cartographer::mapping::scan_matching::DiscreteScan2D

Definition at line 32 of file correlative_scan_matcher_2d.h.

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Function Documentation

PrecomputationGrid3D cartographer::mapping::scan_matching::ConvertToPrecomputationGrid

(

const HybridGrid &

hybrid_grid

)

Definition at line 49 of file precomputation_grid_3d.cc.

proto::CeresScanMatcherOptions2D cartographer::mapping::scan_matching::CreateCeresScanMatcherOptions2D

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 38 of file ceres_scan_matcher_2d.cc.

proto::CeresScanMatcherOptions3D cartographer::mapping::scan_matching::CreateCeresScanMatcherOptions3D

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 39 of file ceres_scan_matcher_3d.cc.

proto::FastCorrelativeScanMatcherOptions2D cartographer::mapping::scan_matching::CreateFastCorrelativeScanMatcherOptions2D

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 79 of file fast_correlative_scan_matcher_2d.cc.

proto::FastCorrelativeScanMatcherOptions3D cartographer::mapping::scan_matching::CreateFastCorrelativeScanMatcherOptions3D

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 37 of file fast_correlative_scan_matcher_3d.cc.

ceres::CostFunction * cartographer::mapping::scan_matching::CreateOccupiedSpaceCostFunction2D	(	const double	scaling_factor,
		const sensor::PointCloud &	point_cloud,
		const Grid2D &	grid
	)

Definition at line 109 of file occupied_space_cost_function_2d.cc.

proto::RealTimeCorrelativeScanMatcherOptions cartographer::mapping::scan_matching::CreateRealTimeCorrelativeScanMatcherOptions

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 8 of file real_time_correlative_scan_matcher.cc.

ceres::CostFunction * cartographer::mapping::scan_matching::CreateTSDFMatchCostFunction2D	(	const double	scaling_factor,
		const sensor::PointCloud &	point_cloud,
		const TSDF2D &	tsdf
	)

Definition at line 77 of file tsdf_match_cost_function_2d.cc.

std::vector< DiscreteScan2D > cartographer::mapping::scan_matching::DiscretizeScans	(	const MapLimits &	map_limits,
		const std::vector< sensor::PointCloud > &	scans,
		const Eigen::Translation2f &	initial_translation
	)

Definition at line 111 of file correlative_scan_matcher_2d.cc.

std::vector< sensor::PointCloud > cartographer::mapping::scan_matching::GenerateRotatedScans	(	const sensor::PointCloud &	point_cloud,
		const SearchParameters &	search_parameters
	)

Definition at line 93 of file correlative_scan_matcher_2d.cc.

PrecomputationGrid3D cartographer::mapping::scan_matching::PrecomputeGrid	(	const PrecomputationGrid3D &	grid,
		const bool	half_resolution,
		const Eigen::Array3i &	shift
	)

Definition at line 63 of file precomputation_grid_3d.cc.

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Variable Documentation

std::function< float(const transform::Rigid3f &)> cartographer::mapping::scan_matching::CreateLowResolutionMatcher

Definition at line 23 of file low_resolution_matcher.cc.