Class FastCorrelativeScanMatcher3D

• Defined in File fast_correlative_scan_matcher_3d.h

Nested Relationships

Nested Types

• Struct FastCorrelativeScanMatcher3D::Result

• Struct FastCorrelativeScanMatcher3D::SearchParameters

Class Documentation

class FastCorrelativeScanMatcher3D

Public Functions

FastCorrelativeScanMatcher3D(const HybridGrid &hybrid_grid, const HybridGrid *low_resolution_hybrid_grid, const Eigen::VectorXf *rotational_scan_matcher_histogram, const proto::FastCorrelativeScanMatcherOptions3D &options)

~FastCorrelativeScanMatcher3D()

FastCorrelativeScanMatcher3D(const FastCorrelativeScanMatcher3D&) = delete

FastCorrelativeScanMatcher3D &operator=(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

struct Result

Public Members

float score

transform::Rigid3d pose_estimate

float rotational_score

float low_resolution_score