From 31e78e1f7127eb4564ba499e2ad885e6dd8a99be Mon Sep 17 00:00:00 2001
From: Andrea Censi <andrea@cds.caltech.edu>
Date: Wed, 1 Sep 2010 12:36:40 -0700
Subject: [PATCH] more documentation
---
sm/csm/algos.h | 13 +++++++++++++
1 file changed, 13 insertions(+)
diff --git a/sm/csm/algos.h b/sm/csm/algos.h
index da28d14..abcbd10 100644
--- a/sm/csm/algos.h
+++ b/sm/csm/algos.h
@@ -80,6 +80,19 @@ struct sm_params {
double do_alpha_test_thresholdDeg;
+ /** I believe this trick is documented in one of the papers by Guttman (but I can't find
+ the reference). Or perhaps I was told by him directly.
+
+ If you already have a guess of the solution, you can compute the polar angle
+ of the points of one scan in the new position. If the polar angle is not a monotone
+ function of the readings index, it means that the surface is not visible in the
+ next position. If it is not visible, then we don't use it for matching.
+
+ This is confusing without a picture! To understand what's going on, make a drawing
+ in which a surface is not visible in one of the poses.
+
+ Implemented in the function visibilityTest().
+ */
int do_visibility_test;
/** If 1, use PlICP; if 0, use vanilla ICP. */
--
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