karto::ScanMatcher Class Reference

#include <Mapper.h>

Public Member Functions
void	ComputeAngularCovariance (const Pose2 &rBestPose, kt_double bestResponse, const Pose2 &rSearchCenter, kt_double searchAngleOffset, kt_double searchAngleResolution, Matrix3 &rCovariance)
void	ComputePositionalCovariance (const Pose2 &rBestPose, kt_double bestResponse, const Pose2 &rSearchCenter, const Vector2< kt_double > &rSearchSpaceOffset, const Vector2< kt_double > &rSearchSpaceResolution, kt_double searchAngleResolution, Matrix3 &rCovariance)
kt_double	CorrelateScan (LocalizedRangeScan *pScan, const Pose2 &rSearchCenter, const Vector2< kt_double > &rSearchSpaceOffset, const Vector2< kt_double > &rSearchSpaceResolution, kt_double searchAngleOffset, kt_double searchAngleResolution, kt_bool doPenalize, Pose2 &rMean, Matrix3 &rCovariance, kt_bool doingFineMatch)
CorrelationGrid *	GetCorrelationGrid () const
template<class T = LocalizedRangeScanVector>
kt_double	MatchScan (LocalizedRangeScan *pScan, const T &rBaseScans, Pose2 &rMean, Matrix3 &rCovariance, kt_bool doPenalize=true, kt_bool doRefineMatch=true)
void	operator() (const kt_double &y) const
	ScanMatcher ()
virtual	~ScanMatcher ()

Static Public Member Functions
static ScanMatcher *	Create (Mapper *pMapper, kt_double searchSize, kt_double resolution, kt_double smearDeviation, kt_double rangeThreshold)

Protected Member Functions
	ScanMatcher (Mapper *pMapper)

Private Member Functions
void	AddScan (LocalizedRangeScan *pScan, const Vector2< kt_double > &rViewPoint, kt_bool doSmear=true)
void	AddScans (const LocalizedRangeScanVector &rScans, Vector2< kt_double > viewPoint)
void	AddScans (const LocalizedRangeScanMap &rScans, Vector2< kt_double > viewPoint)
PointVectorDouble	FindValidPoints (LocalizedRangeScan *pScan, const Vector2< kt_double > &rViewPoint) const
kt_double	GetResponse (kt_int32u angleIndex, kt_int32s gridPositionIndex) const
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Private Attributes
kt_bool	m_doPenalize
kt_int32u	m_nAngles
CorrelationGrid *	m_pCorrelationGrid
GridIndexLookup< kt_int8u > *	m_pGridLookup
Mapper *	m_pMapper
std::pair< kt_double, Pose2 > *	m_pPoseResponse
Grid< kt_double > *	m_pSearchSpaceProbs
Pose2	m_rSearchCenter
kt_double	m_searchAngleOffset
kt_double	m_searchAngleResolution
std::vector< kt_double >	m_xPoses
std::vector< kt_double >	m_yPoses

Friends
class	boost::serialization::access

Detailed Description

Scan matcher

Definition at line 1313 of file Mapper.h.

Constructor & Destructor Documentation

ScanMatcher() [1/2]

karto::ScanMatcher::ScanMatcher ( )

inline

Definition at line 1316 of file Mapper.h.

~ScanMatcher()

karto::ScanMatcher::~ScanMatcher ( )

virtual

Destructor

Definition at line 468 of file Mapper.cpp.

ScanMatcher() [2/2]

karto::ScanMatcher::ScanMatcher ( Mapper *  pMapper )

inlineprotected

Default constructor

Definition at line 1463 of file Mapper.h.

Member Function Documentation

AddScan()

void karto::ScanMatcher::AddScan ( LocalizedRangeScan *  pScan, const Vector2< kt_double > &  rViewPoint, kt_bool  doSmear = true  )

private

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

Parameters

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 1100 of file Mapper.cpp.

AddScans() [1/2]

void karto::ScanMatcher::AddScans ( const LocalizedRangeScanVector &  rScans, Vector2< kt_double >  viewPoint  )

private

Marks cells where scans' points hit as being occupied

Parameters

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 1057 of file Mapper.cpp.

AddScans() [2/2]

void karto::ScanMatcher::AddScans ( const LocalizedRangeScanMap &  rScans, Vector2< kt_double >  viewPoint  )

private

Marks cells where scans' points hit as being occupied

Parameters

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 1078 of file Mapper.cpp.

ComputeAngularCovariance()

void karto::ScanMatcher::ComputeAngularCovariance	(	const Pose2 &	rBestPose,
		kt_double	bestResponse,
		const Pose2 &	rSearchCenter,
		kt_double	searchAngleOffset,
		kt_double	searchAngleResolution,
		Matrix3 &	rCovariance
	)

Computes the angular covariance of the best pose

Parameters

rBestPose
bestResponse
rSearchCenter
searchAngleOffset
searchAngleResolution
rCovariance	Computes the angular covariance of the best pose
rBestPose
bestResponse
rSearchCenter
rSearchAngleOffset
searchAngleResolution
rCovariance

Definition at line 999 of file Mapper.cpp.

ComputePositionalCovariance()

void karto::ScanMatcher::ComputePositionalCovariance	(	const Pose2 &	rBestPose,
		kt_double	bestResponse,
		const Pose2 &	rSearchCenter,
		const Vector2< kt_double > &	rSearchSpaceOffset,
		const Vector2< kt_double > &	rSearchSpaceResolution,
		kt_double	searchAngleResolution,
		Matrix3 &	rCovariance
	)

Computes the positional covariance of the best pose

Parameters

rBestPose
bestResponse
rSearchCenter
rSearchSpaceOffset
rSearchSpaceResolution
searchAngleResolution
rCovariance

Definition at line 893 of file Mapper.cpp.

CorrelateScan()

kt_double karto::ScanMatcher::CorrelateScan	(	LocalizedRangeScan *	pScan,
		const Pose2 &	rSearchCenter,
		const Vector2< kt_double > &	rSearchSpaceOffset,
		const Vector2< kt_double > &	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

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

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

rScan	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 719 of file Mapper.cpp.

Create()

ScanMatcher * karto::ScanMatcher::Create ( Mapper *  pMapper, kt_double  searchSize, kt_double  resolution, kt_double  smearDeviation, kt_double  rangeThreshold  )

static

Create a scan matcher with the given parameters

Definition at line 485 of file Mapper.cpp.

FindValidPoints()

PointVectorDouble karto::ScanMatcher::FindValidPoints ( LocalizedRangeScan *  pScan, const Vector2< kt_double > &  rViewPoint  ) const

private

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

Parameters

pScan
rViewPoint

Returns

points on the same side

Definition at line 1140 of file Mapper.cpp.

GetCorrelationGrid()

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

inline

Gets the correlation grid data (for debugging)

Returns

correlation grid

Definition at line 1421 of file Mapper.h.

GetResponse()

kt_double karto::ScanMatcher::GetResponse ( kt_int32u  angleIndex, kt_int32s  gridPositionIndex  ) const

private

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

Parameters

angleIndex
gridPositionIndex

Returns

response

Definition at line 1203 of file Mapper.cpp.

MatchScan()

template<class T >

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

Match 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 (default is true)

Returns

strength of response

Definition at line 544 of file Mapper.cpp.

operator()()

void karto::ScanMatcher::operator()

(

const kt_double &

y

)

const

Parallelize scan matching

Definition at line 649 of file Mapper.cpp.

serialize()

template<class Archive >

void karto::ScanMatcher::serialize ( Archive &  ar, const unsigned int  version  )

inlineprivate

Definition at line 1492 of file Mapper.h.

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Serialization: class ScanMatcher

Definition at line 1490 of file Mapper.h.

Member Data Documentation

m_doPenalize

kt_bool karto::ScanMatcher::m_doPenalize

private

Definition at line 1485 of file Mapper.h.

m_nAngles

kt_int32u karto::ScanMatcher::m_nAngles

private

Definition at line 1483 of file Mapper.h.

m_pCorrelationGrid

CorrelationGrid* karto::ScanMatcher::m_pCorrelationGrid

private

Definition at line 1475 of file Mapper.h.

m_pGridLookup

GridIndexLookup<kt_int8u>* karto::ScanMatcher::m_pGridLookup

private

Definition at line 1477 of file Mapper.h.

m_pMapper

Mapper* karto::ScanMatcher::m_pMapper

private

Definition at line 1474 of file Mapper.h.

m_pPoseResponse

std::pair<kt_double, Pose2>* karto::ScanMatcher::m_pPoseResponse

private

Definition at line 1478 of file Mapper.h.

m_pSearchSpaceProbs

Grid<kt_double>* karto::ScanMatcher::m_pSearchSpaceProbs

private

Definition at line 1476 of file Mapper.h.

m_rSearchCenter

Pose2 karto::ScanMatcher::m_rSearchCenter

private

Definition at line 1481 of file Mapper.h.

m_searchAngleOffset

kt_double karto::ScanMatcher::m_searchAngleOffset

private

Definition at line 1482 of file Mapper.h.

m_searchAngleResolution

kt_double karto::ScanMatcher::m_searchAngleResolution

private

Definition at line 1484 of file Mapper.h.

m_xPoses

std::vector<kt_double> karto::ScanMatcher::m_xPoses

private

Definition at line 1479 of file Mapper.h.

m_yPoses

std::vector<kt_double> karto::ScanMatcher::m_yPoses

private

Definition at line 1480 of file Mapper.h.

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

• Mapper.h
• Mapper.cpp