Detailed Description

A class for aligning two multi-metric maps (with an occupancy grid maps and a points map, at least) based on features extraction and matching.

The matching pose is returned as a Sum of Gaussians (poses::CPosePDFSOG).

This method was reported in the paper:

See CGridMapAligner::Align for more instructions.

See also:: CMetricMapsAlignmentAlgorithm

#include <mrpt/slam/CGridMapAligner.h>

Inheritance diagram for mrpt::slam::CGridMapAligner:

[legend]

List of all members.

Classes
class	TConfigParams
	The ICP algorithm configuration data. More...
struct	TReturnInfo
	The ICP algorithm return information. More...
Public Types
enum	TAlignerMethod { amRobustMatch = 0, amCorrelation, amModifiedRANSAC }
	The type for selecting the grid-map alignment algorithm. More...
Public Member Functions
	CGridMapAligner ()
CPosePDFPtr	AlignPDF (const CMetricMap m1, const CMetricMap m2, const CPosePDFGaussian &initialEstimationPDF, float runningTime=NULL, void info=NULL)
	The method for aligning a pair of 2D points map.
CPose3DPDFPtr	Align3DPDF (const CMetricMap m1, const CMetricMap m2, const CPose3DPDFGaussian &initialEstimationPDF, float runningTime=NULL, void info=NULL)
	The virtual method for aligning a pair of metric maps, aligning the full 6D pose.
CPosePDFPtr	Align (const CMetricMap m1, const CMetricMap m2, const CPose2D &grossEst, float runningTime=NULL, void info=NULL)
	The method for aligning a pair of metric maps, aligning only 2D + orientation.
CPose3DPDFPtr	Align3D (const CMetricMap m1, const CMetricMap m2, const CPose3D &grossEst, float runningTime=NULL, void info=NULL)
	The method for aligning a pair of metric maps, aligning the full 6D pose.
Static Public Member Functions
static void	printf_debug (const char *frmt,...)
	Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Public Attributes
mrpt::slam::CGridMapAligner::TConfigParams	options
Private Member Functions
CPosePDFPtr	AlignPDF_correlation (const CMetricMap m1, const CMetricMap m2, const CPosePDFGaussian &initialEstimationPDF, float runningTime=NULL, void info=NULL)
	Private member, implements one the algorithms.
CPosePDFPtr	AlignPDF_robustMatch (const CMetricMap m1, const CMetricMap m2, const CPosePDFGaussian &initialEstimationPDF, float runningTime=NULL, void info=NULL)
	Private member, implements both, the "robustMatch" and the newer "modifiedRANSAC" algorithms.
Private Attributes
COccupancyGridMapFeatureExtractor	m_grid_feat_extr
	Grid map features extractor.

Member Enumeration Documentation

enum mrpt::slam::CGridMapAligner::TAlignerMethod

The type for selecting the grid-map alignment algorithm.

Enumerator:

amRobustMatch
amCorrelation
amModifiedRANSAC

Definition at line 85 of file CGridMapAligner.h.

Constructor & Destructor Documentation

mrpt::slam::CGridMapAligner::CGridMapAligner ( ) [inline]

Definition at line 79 of file CGridMapAligner.h.

Member Function Documentation

CPosePDFPtr mrpt::slam::CMetricMapsAlignmentAlgorithm::Align	(	const CMetricMap *	m1,
		const CMetricMap *	m2,
		const CPose2D &	grossEst,
		float *	runningTime = `NULL`,
		void *	info = `NULL`
	)		`[inherited]`

The method for aligning a pair of metric maps, aligning only 2D + orientation.

The meaning of some parameters and the kind of the maps to be aligned are implementation dependant, so look into the derived classes for instructions. The target is to find a PDF for the pose displacement between maps, thus the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.

Parameters:

m1	[IN] The first map
m2	[IN] The second map. The pose of this map respect to m1 is to be estimated.
grossEst	[IN] An initial gross estimation for the displacement. If a given algorithm doesn't need it, set to `CPose2D(0,0,0)` for example.
runningTime	[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.
info	[OUT] See derived classes for details, or NULL if it isn't needed.

Returns:: A smart pointer to the output estimated pose PDF.

See also:: CICP

CPose3DPDFPtr mrpt::slam::CMetricMapsAlignmentAlgorithm::Align3D	(	const CMetricMap *	m1,
		const CMetricMap *	m2,
		const CPose3D &	grossEst,
		float *	runningTime = `NULL`,
		void *	info = `NULL`
	)		`[inherited]`

The method for aligning a pair of metric maps, aligning the full 6D pose.

The meaning of some parameters and the kind of the maps to be aligned are implementation dependant, so look into the derived classes for instructions. The target is to find a PDF for the pose displacement between maps, thus the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.

Parameters:

m1	[IN] The first map
m2	[IN] The second map. The pose of this map respect to m1 is to be estimated.
grossEst	[IN] An initial gross estimation for the displacement. If a given algorithm doesn't need it, set to `CPose3D(0,0,0)` for example.
runningTime	[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.
info	[OUT] See derived classes for details, or NULL if it isn't needed.

Returns:: A smart pointer to the output estimated pose PDF.

See also:: CICP

CPose3DPDFPtr mrpt::slam::CGridMapAligner::Align3DPDF	(	const CMetricMap *	m1,
		const CMetricMap *	m2,
		const CPose3DPDFGaussian &	initialEstimationPDF,
		float *	runningTime = `NULL`,
		void *	info = `NULL`
	)		`[inline, virtual]`

The virtual method for aligning a pair of metric maps, aligning the full 6D pose.

The meaning of some parameters are implementation dependant, so look at the derived classes for more details. The goal is to find a PDF for the pose displacement between maps, that is, the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.

Note:: This method can be configurated with a "options" structure in the implementation classes.

Parameters:

m1	[IN] The first map (MUST BE A COccupancyGridMap2D derived class)
m2	[IN] The second map. (MUST BE A CPointsMap derived class) The pose of this map respect to m1 is to be estimated.
initialEstimationPDF	[IN] An initial gross estimation for the displacement.
runningTime	[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.
info	[OUT] See derived classes for details, or NULL if it isn't needed.

Returns:: A smart pointer to the output estimated pose PDF.

See also:: CICP

Implements mrpt::slam::CMetricMapsAlignmentAlgorithm.

Definition at line 250 of file CGridMapAligner.h.

References THROW_EXCEPTION.

CPosePDFPtr mrpt::slam::CGridMapAligner::AlignPDF	(	const CMetricMap *	m1,
		const CMetricMap *	m2,
		const CPosePDFGaussian &	initialEstimationPDF,
		float *	runningTime = `NULL`,
		void *	info = `NULL`
	)		`[virtual]`

The method for aligning a pair of 2D points map.

The meaning of some parameters are implementation dependant, so look for derived classes for instructions. The target is to find a PDF for the pose displacement between maps, thus the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.

NOTE: This method can be configurated with "options"

Parameters:

m1	[IN] The first map (Must be a mrpt::slam::CMultiMetricMap class)
m2	[IN] The second map (Must be a mrpt::slam::CMultiMetricMap class)
initialEstimationPDF	[IN] (IGNORED IN THIS ALGORITHM!)
runningTime	[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.
info	[OUT] A pointer to a CAlignerFromMotionDraws::TReturnInfo struct, or NULL if result information are not required.

Note:

The returned PDF depends on the selected alignment method:

"amRobustMatch" --> A "poses::CPosePDFSOG" object.
"amCorrelation" --> A "poses::CPosePDFGrid" object.

Returns:: A smart pointer to the output estimated pose PDF.

See also:: CPointsMapAlignmentAlgorithm, options

Implements mrpt::slam::CMetricMapsAlignmentAlgorithm.

CPosePDFPtr mrpt::slam::CGridMapAligner::AlignPDF_correlation	(	const CMetricMap *	m1,
		const CMetricMap *	m2,
		const CPosePDFGaussian &	initialEstimationPDF,
		float *	runningTime = `NULL`,
		void *	info = `NULL`
	)		`[private]`

Private member, implements one the algorithms.

CPosePDFPtr mrpt::slam::CGridMapAligner::AlignPDF_robustMatch	(	const CMetricMap *	m1,
		const CMetricMap *	m2,
		const CPosePDFGaussian &	initialEstimationPDF,
		float *	runningTime = `NULL`,
		void *	info = `NULL`
	)		`[private]`

Private member, implements both, the "robustMatch" and the newer "modifiedRANSAC" algorithms.

static void mrpt::utils::CDebugOutputCapable::printf_debug	(	const char *	frmt,
			...
	)		`[static, inherited]`

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl::execute().

Member Data Documentation

COccupancyGridMapFeatureExtractor mrpt::slam::CGridMapAligner::m_grid_feat_extr [private]

Grid map features extractor.

Definition at line 76 of file CGridMapAligner.h.

mrpt::slam::CGridMapAligner::TConfigParams mrpt::slam::CGridMapAligner::options

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation