#include <fast_correlative_scan_matcher_3d.h>

Classes
struct	Result

struct	SearchParameters

Public Member Functions
	FastCorrelativeScanMatcher3D (const HybridGrid &hybrid_grid, const HybridGrid *low_resolution_hybrid_grid, const std::vector< TrajectoryNode > &nodes, const proto::FastCorrelativeScanMatcherOptions3D &options)

	FastCorrelativeScanMatcher3D (const FastCorrelativeScanMatcher3D &)=delete

std::unique_ptr< Result >	Match (const transform::Rigid3d &global_node_pose, const transform::Rigid3d &global_submap_pose, const TrajectoryNode::Data &constant_data, float min_score) const

std::unique_ptr< Result >	MatchFullSubmap (const Eigen::Quaterniond &global_node_rotation, const Eigen::Quaterniond &global_submap_rotation, const TrajectoryNode::Data &constant_data, float min_score) const

FastCorrelativeScanMatcher3D &	operator= (const FastCorrelativeScanMatcher3D &)=delete

	~FastCorrelativeScanMatcher3D ()

Private Member Functions
Candidate3D	BranchAndBound (const SearchParameters &search_parameters, const std::vector< DiscreteScan3D > &discrete_scans, const std::vector< Candidate3D > &candidates, int candidate_depth, float min_score) const

std::vector< Candidate3D >	ComputeLowestResolutionCandidates (const SearchParameters &search_parameters, const std::vector< DiscreteScan3D > &discrete_scans) const

DiscreteScan3D	DiscretizeScan (const SearchParameters &search_parameters, const sensor::PointCloud &point_cloud, const transform::Rigid3f &pose, float rotational_score) const

std::vector< DiscreteScan3D >	GenerateDiscreteScans (const SearchParameters &search_parameters, const sensor::PointCloud &point_cloud, const Eigen::VectorXf &rotational_scan_matcher_histogram, const Eigen::Quaterniond &gravity_alignment, const transform::Rigid3f &global_node_pose, const transform::Rigid3f &global_submap_pose) const

std::vector< Candidate3D >	GenerateLowestResolutionCandidates (const SearchParameters &search_parameters, int num_discrete_scans) const

transform::Rigid3f	GetPoseFromCandidate (const std::vector< DiscreteScan3D > &discrete_scans, const Candidate3D &candidate) const

std::unique_ptr< Result >	MatchWithSearchParameters (const SearchParameters &search_parameters, const transform::Rigid3f &global_node_pose, const transform::Rigid3f &global_submap_pose, const sensor::PointCloud &point_cloud, const Eigen::VectorXf &rotational_scan_matcher_histogram, const Eigen::Quaterniond &gravity_alignment, float min_score) const

void	ScoreCandidates (int depth, const std::vector< DiscreteScan3D > &discrete_scans, std::vector< Candidate3D > *const candidates) const

Private Attributes
const HybridGrid *const	low_resolution_hybrid_grid_

const proto::FastCorrelativeScanMatcherOptions3D	options_

std::unique_ptr< PrecomputationGridStack3D >	precomputation_grid_stack_

const float	resolution_

RotationalScanMatcher	rotational_scan_matcher_

const int	width_in_voxels_

Detailed Description

Definition at line 66 of file fast_correlative_scan_matcher_3d.h.

Constructor & Destructor Documentation

◆ FastCorrelativeScanMatcher3D() [1/2]

cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::FastCorrelativeScanMatcher3D	(	const HybridGrid &	hybrid_grid,
		const HybridGrid *	low_resolution_hybrid_grid,
		const std::vector< TrajectoryNode > &	nodes,
		const proto::FastCorrelativeScanMatcherOptions3D &	options
	)

Definition at line 130 of file fast_correlative_scan_matcher_3d.cc.

◆ ~FastCorrelativeScanMatcher3D()

cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::~FastCorrelativeScanMatcher3D ( )

Definition at line 143 of file fast_correlative_scan_matcher_3d.cc.

◆ FastCorrelativeScanMatcher3D() [2/2]

cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::FastCorrelativeScanMatcher3D ( const FastCorrelativeScanMatcher3D & )

delete

Member Function Documentation

◆ BranchAndBound()

Candidate3D cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::BranchAndBound	(	const SearchParameters &	search_parameters,
		const std::vector< DiscreteScan3D > &	discrete_scans,
		const std::vector< Candidate3D > &	candidates,
		int	candidate_depth,
		float	min_score
	)		const

private

Definition at line 394 of file fast_correlative_scan_matcher_3d.cc.

◆ ComputeLowestResolutionCandidates()

std::vector< Candidate3D > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::ComputeLowestResolutionCandidates	(	const SearchParameters &	search_parameters,
		const std::vector< DiscreteScan3D > &	discrete_scans
	)		const

private

Definition at line 375 of file fast_correlative_scan_matcher_3d.cc.

◆ DiscretizeScan()

DiscreteScan3D cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::DiscretizeScan	(	const SearchParameters &	search_parameters,
		const sensor::PointCloud &	point_cloud,
		const transform::Rigid3f &	pose,
		float	rotational_score
	)		const

private

Definition at line 218 of file fast_correlative_scan_matcher_3d.cc.

◆ GenerateDiscreteScans()

std::vector< DiscreteScan3D > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::GenerateDiscreteScans	(	const SearchParameters &	search_parameters,
		const sensor::PointCloud &	point_cloud,
		const Eigen::VectorXf &	rotational_scan_matcher_histogram,
		const Eigen::Quaterniond &	gravity_alignment,
		const transform::Rigid3f &	global_node_pose,
		const transform::Rigid3f &	global_submap_pose
	)		const

private

Definition at line 263 of file fast_correlative_scan_matcher_3d.cc.

◆ GenerateLowestResolutionCandidates()

std::vector< Candidate3D > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::GenerateLowestResolutionCandidates	(	const SearchParameters &	search_parameters,
		int	num_discrete_scans
	)		const

private

Definition at line 315 of file fast_correlative_scan_matcher_3d.cc.

◆ GetPoseFromCandidate()

transform::Rigid3f cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::GetPoseFromCandidate	(	const std::vector< DiscreteScan3D > &	discrete_scans,
		const Candidate3D &	candidate
	)		const

private

Definition at line 386 of file fast_correlative_scan_matcher_3d.cc.

◆ Match()

std::unique_ptr< FastCorrelativeScanMatcher3D::Result > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::Match	(	const transform::Rigid3d &	global_node_pose,
		const transform::Rigid3d &	global_submap_pose,
		const TrajectoryNode::Data &	constant_data,
		float	min_score
	)		const

Definition at line 146 of file fast_correlative_scan_matcher_3d.cc.

◆ MatchFullSubmap()

std::unique_ptr< FastCorrelativeScanMatcher3D::Result > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::MatchFullSubmap	(	const Eigen::Quaterniond &	global_node_rotation,
		const Eigen::Quaterniond &	global_submap_rotation,
		const TrajectoryNode::Data &	constant_data,
		float	min_score
	)		const

Definition at line 165 of file fast_correlative_scan_matcher_3d.cc.

◆ MatchWithSearchParameters()

std::unique_ptr< FastCorrelativeScanMatcher3D::Result > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::MatchWithSearchParameters	(	const SearchParameters &	search_parameters,
		const transform::Rigid3f &	global_node_pose,
		const transform::Rigid3f &	global_submap_pose,
		const sensor::PointCloud &	point_cloud,
		const Eigen::VectorXf &	rotational_scan_matcher_histogram,
		const Eigen::Quaterniond &	gravity_alignment,
		float	min_score
	)		const

private

Definition at line 191 of file fast_correlative_scan_matcher_3d.cc.

◆ operator=()

FastCorrelativeScanMatcher3D& cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::operator= ( const FastCorrelativeScanMatcher3D & )

delete

◆ ScoreCandidates()

void cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::ScoreCandidates	(	int	depth,
		const std::vector< DiscreteScan3D > &	discrete_scans,
		std::vector< Candidate3D > *const	candidates
	)		const

private

Definition at line 349 of file fast_correlative_scan_matcher_3d.cc.

Member Data Documentation

◆ low_resolution_hybrid_grid_

const HybridGrid* const cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::low_resolution_hybrid_grid_

private

Definition at line 149 of file fast_correlative_scan_matcher_3d.h.

◆ options_

const proto::FastCorrelativeScanMatcherOptions3D cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::options_

private

Definition at line 145 of file fast_correlative_scan_matcher_3d.h.

◆ precomputation_grid_stack_

std::unique_ptr<PrecomputationGridStack3D> cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::precomputation_grid_stack_

private

Definition at line 148 of file fast_correlative_scan_matcher_3d.h.

◆ resolution_

const float cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::resolution_

private

Definition at line 146 of file fast_correlative_scan_matcher_3d.h.

◆ rotational_scan_matcher_

RotationalScanMatcher cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::rotational_scan_matcher_

private

Definition at line 150 of file fast_correlative_scan_matcher_3d.h.

◆ width_in_voxels_

const int cartographer::mapping::scan_matching::FastCorrelativeScanMatcher3D::width_in_voxels_

private

Definition at line 147 of file fast_correlative_scan_matcher_3d.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FastCorrelativeScanMatcher3D() [1/2]

◆ ~FastCorrelativeScanMatcher3D()

◆ FastCorrelativeScanMatcher3D() [2/2]

Member Function Documentation

◆ BranchAndBound()

◆ ComputeLowestResolutionCandidates()

◆ DiscretizeScan()

◆ GenerateDiscreteScans()

◆ GenerateLowestResolutionCandidates()

◆ GetPoseFromCandidate()

◆ Match()

◆ MatchFullSubmap()

◆ MatchWithSearchParameters()

◆ operator=()

◆ ScoreCandidates()

Member Data Documentation

◆ low_resolution_hybrid_grid_

◆ options_

◆ precomputation_grid_stack_

◆ resolution_

◆ rotational_scan_matcher_

◆ width_in_voxels_