Sonar 3D Reconstruction

Getting Started

  • Sonar 3D Reconstruction
    • Features
    • Quick Start
      • Launch Arguments
    • Configuration
      • Config Files
      • Key Parameters (common.yaml)
    • Topics
      • Subscribe
      • Publish
    • Nodes
    • Build
      • Dependencies
      • Runtime Dependencies
    • File Structure
    • Coordinate System

Design Documents

  • Intensity-Weighted Log-Odds (IWLO) Probability Update
    • Overview
    • 1. Background
      • Limitations of Existing Methods
      • IWLO Design Goals
    • 2. Mathematical Formulation
      • 2.1 Probability-Log-Odds Transformation
      • 2.2 Intensity-to-Weight Transformation
      • 2.3 Learning Rate Decay
      • 2.4 Adaptive Scaling (Bidirectional Protection)
      • 2.5 Update Formula
    • 3. Algorithm Pseudocode
    • 4. Parameter Tuning Guide
      • 4.1 Sharpness (\(\gamma\))
      • 4.2 Decay Rate (\(\lambda\))
      • 4.3 Minimum Alpha (\(\alpha_{min}\))
    • 5. Related Documents
      • API Reference
      • Design Documents
    • 6. References
    • Changelog
  • Octree Mapping Design
    • Overview
    • 1. Data Structure
      • 1.1 Octree Structure
      • 1.2 Voxel Key
      • 1.3 Dual Storage Strategy
    • 2. Memory Efficiency
      • 2.1 Sparse Representation
      • 2.2 Pruning Algorithm
    • 3. Operations
      • 3.1 Point Update
      • 3.2 Query Occupied Voxels
      • 3.3 Ray Casting
    • 4. Implementation Classes
    • 5. Related Documents
      • Design Documents
      • API Reference
    • 6. References
  • Out-of-Core Tile Mapping Design
    • Overview
    • 1. Architecture
    • 2. Tile System
      • 2.1 Tile Definition
      • 2.2 Tile Contents
    • 3. Storage Format
      • 3.1 Directory Structure
      • 3.2 IWLO Metadata Binary Format
      • 3.3 Metadata JSON
    • 4. LRU Cache
      • 4.1 Cache Structure
      • 4.2 Eviction Policy
      • 4.3 Eviction Callback
    • 5. Operations
      • 5.1 Point Update Flow
      • 5.2 Query Flow
      • 5.3 Flush Operation
    • 6. Implementation Classes
    • 7. Mode Comparison
    • 8. Related Documents
      • Design Documents
      • API Reference
  • Troubleshooting
    • Issue Log
      • [2025-11-27] C++ Backend Probability Fixed Value Bug

API Reference

  • Configuration Reference
    • Overview
    • Parameter Categories
      • Sonar Hardware
      • Filtering
      • Mounting
      • Voxel Map
      • IWLO Algorithm
      • Adaptive Scaling
      • Out-of-Core Storage
      • Crosstalk Filter
      • Robot Detection
      • Processing
      • Node-Only Parameters
    • Configuration Flow
    • Parameter Management System
      • ParameterDef
      • ParameterManager
      • Parameter Lists
      • Dynamic Parameter Updates
    • YAML Configuration Example
    • Related
  • 3d_mapper.py
    • Overview
    • Architecture
    • Classes
      • SonarTo3DMapper
      • CrosstalkFilter
    • Core Methods
      • process_sonar_image
      • get_point_cloud
      • Utility Methods
    • IWLO Algorithm
    • Coordinate System
    • Usage Example
    • Related
  • 3d_mapper_node.py
    • Overview
    • Architecture
    • Parameters
    • Dynamic Parameters
      • Registration
      • Supported Dynamic Parameters
      • Read-only Parameters (requires restart)
      • Example Usage
    • Topics
      • Input
      • Output (In-Memory Mode)
      • Output (Out-of-Core Mode)
    • Processing Flow
    • TF Broadcasting
    • Image Encoding
    • Mode Comparison
    • Usage
    • Related
  • mapper_backend.h
    • Overview
    • Class: IMapperBackend
      • Purpose
    • Implementations
    • Required API
      • Core Update
        • batch_update_iwlo
      • Parameter Configuration
        • set_iwlo_params
        • set_log_odds_params
        • set_intensity_params
        • set_adaptive_params
        • set_occupied_threshold
      • Query API
        • get_occupied_voxels
        • get_memory_usage
        • get_resolution
        • get_num_nodes
        • clear
    • Optional API
      • flush
      • preload_region
      • get_disk_usage
      • prune
      • supports_persistence
      • get_backend_type
    • Usage Example
    • Backend Comparison
    • Design Rationale
    • Related
  • probability_updater.cpp / .h
    • Overview
    • Architecture
    • Class: ProbabilityUpdater
      • Constructor
      • Configuration Methods
        • set_log_odds_params
        • set_adaptive_params
        • set_clamping_thresholds
        • set_intensity_params
        • set_iwlo_params
        • set_occupied_threshold
      • Core Update Method
        • batch_update_iwlo
      • Query Methods
        • get_occupied_voxels
        • get_memory_usage
        • get_num_nodes
        • get_resolution
        • get_observation_count
      • Maintenance Methods
        • prune_tree
        • clear
      • Synchronization Methods
        • set_incremental_sync
        • force_full_sync
    • Internal Implementation
      • Storage Strategy
      • Sync Strategies
    • Probability Conversion
    • Usage Example
    • Parameter Name Mapping
    • IMapperBackend Implementation
      • Backend Identity
      • Optional Methods
    • Related
  • outofcore_tile_mapper.cpp / .h
    • Overview
    • Architecture
    • Class: OutofcoreTileMapper
      • Constructor
    • ProbabilityUpdater Compatible API
      • batch_update_iwlo
      • Configuration Methods
      • Query Methods
        • get_occupied_voxels
        • get_all_occupied_voxels
        • get_memory_usage / get_num_nodes
    • Extended API
      • Region Query
      • Flush Operations
      • Merged OcTree
      • Tile Management
      • Preloading
      • Maintenance
      • Visualizer Notification
    • Internal Implementation
      • LRU Cache with Eviction Callback
      • Point Grouping
      • Thread Safety
    • ROS2 Parameter Mapping
    • Usage Example
    • Comparison: ProbabilityUpdater vs OutofcoreTileMapper
    • IMapperBackend Implementation
      • Backend Identity
      • Optional Methods
    • Related
  • iwlo_updater.cpp / .h
    • Overview
    • Class: IWLOUpdater
      • Purpose
    • Core Conversion Methods
      • log_odds_to_probability
      • probability_to_log_odds
    • IWLO Algorithm Methods
      • intensity_to_weight (explicit parameters)
      • intensity_to_weight (with IWLOParams)
      • compute_alpha (explicit parameters)
      • compute_alpha (with IWLOParams)
      • compute_adaptive_scale
      • compute_delta_log_odds
      • clamp_log_odds
    • Usage Example
    • Design Rationale
    • Related
  • voxel_storage.h
    • Overview
    • Class: VoxelStorage
      • Purpose
    • Interface Methods
      • Core Operations
        • get_log_odds
        • set_log_odds
        • get_observation_count
        • increment_observation_count
        • get_or_create_meta
      • Coordinate Operations
        • coord_to_key
        • key_to_coord
      • Query Operations
        • get_occupied_voxels
        • get_num_voxels
        • has_occupied_voxels
      • Persistence Operations
        • save
        • load
      • Maintenance Operations
        • clear
        • sync_to_octree
        • prune
        • get_memory_usage
      • OcTree Access
        • get_octree
    • Implementations
    • Data Types
      • IWLOMeta
      • OccupiedVoxel
    • Design Rationale
    • Related
  • octree_storage.cpp / .h
    • Overview
    • Architecture
    • Class: OctreeStorage
      • Constructor
      • Copy/Move Semantics
    • VoxelStorage Interface Implementation
      • Core Operations
      • Coordinate Operations
      • Query Operations
      • Persistence Operations
      • Maintenance Operations
    • Additional Methods
      • get_resolution
      • Dirty Flag Management
    • File Formats
      • octree.bt
      • iwlo_meta.bin
    • Usage Example
    • Design Rationale
    • Related
  • octree_mapper.cpp / .h
    • Overview
    • Architecture
    • Struct: MemoryStats
    • Class: OctreeMapper
      • Constructor
      • Update Methods
        • update_point
        • batch_update
        • batch_update_with_log_odds
        • insert_ray
      • Query Methods
        • get_occupied_voxels
        • get_memory_usage
        • get_num_nodes
        • get_resolution
      • Configuration Methods
        • set_probability_params
        • set_occupancy_thresholds
      • Maintenance Methods
        • prune_tree
        • clear
      • File I/O
        • save_to_file
        • load_from_file
    • Internal Implementation
      • SuppressOutput Class
      • Cache System
      • Point3d Hash
    • Dual Storage Rationale
    • Usage Example
    • Related
  • tile.cpp / .h
    • Overview
    • Data Structures
      • IWLOMeta
      • IWLOParams
      • TileIndex
      • OccupiedVoxel
    • Class: Tile
      • Constructor
      • IWLO Update Methods
        • update_voxel
        • batch_update
      • File I/O
        • save
        • load
      • IWLO Metadata File Format
      • Query Methods
        • get_occupied_voxels
        • has_occupied_voxels
        • Bounds
      • State Management
      • Maintenance
        • prune
        • clear
        • get_memory_usage
      • Internal Methods
        • sync_to_octree
        • Helper Functions
    • Storage Architecture
    • Disk Storage
    • Related
  • tile_manager.cpp / .h
    • Overview
    • Data Structures
      • MapMetadata
    • Class: TileManager
      • Constructor
      • initialize
      • Coordinate Conversion
        • world_to_tile_index
      • Path Management
        • get_tile_directory
        • tile_exists
      • Tile Enumeration
        • list_all_tiles
        • get_tiles_in_region
      • Metadata Management
        • save_metadata / load_metadata
        • update_bounds
      • Tile Operations
        • delete_tile
        • get_disk_usage
      • Getters
    • Directory Structure
    • Usage Example
    • Related
  • Utilities
    • Map Visualizer Node
      • Visualization Modes
      • Parameters
      • Topics
      • Tile Reload Strategy
      • Usage
    • C++ Python Bindings
      • Exposed Classes
      • Helper Structures
      • Module Info
    • Related
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