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 class can use three methods (see options.methodSelection):

amCorrelation: "Brute-force" correlation of the two maps over a 2D+orientation grid of possible 2D poses.
amRobustMatch: Detection of features + RANSAC matching
amModifiedRANSAC: Detection of features + modified multi-hypothesis RANSAC matching as described in was reported in the paper http://www.mrpt.org/Paper%3AOccupancy_Grid_Matching

See CGridMapAligner::Align for more instructions.

See also: CMetricMapsAlignmentAlgorithm

Definition at line 39 of file CGridMapAligner.h.

#include <mrpt/slam/CGridMapAligner.h>

Inheritance diagram for mrpt::slam::CGridMapAligner:

[legend]

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. More...

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. More...

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. More...

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. More...

Static Public Member Functions
static void	printf_debug (const char *frmt,...)
	Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More...

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. More...

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. More...

Private Attributes
COccupancyGridMapFeatureExtractor	m_grid_feat_extr
	Grid map features extractor. More...

Member Enumeration Documentation

◆ TAlignerMethod

enum mrpt::slam::CGridMapAligner::TAlignerMethod

The type for selecting the grid-map alignment algorithm.

Enumerator
amRobustMatch
amCorrelation
amModifiedRANSAC

Definition at line 69 of file CGridMapAligner.h.

Constructor & Destructor Documentation

◆ CGridMapAligner()

mrpt::slam::CGridMapAligner::CGridMapAligner ( )

inline

Definition at line 63 of file CGridMapAligner.h.

Member Function Documentation

◆ Align()

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

◆ Align3D()

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

◆ Align3DPDF()

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

inlinevirtual

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 234 of file CGridMapAligner.h.

References THROW_EXCEPTION.

◆ AlignPDF()

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.

◆ AlignPDF_correlation()

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.

◆ AlignPDF_robustMatch()

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.

◆ printf_debug()

static void mrpt::utils::CDebugOutputCapable::printf_debug	(	const char *	frmt,
			...
	)

staticinherited

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

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

Member Data Documentation

◆ m_grid_feat_extr

COccupancyGridMapFeatureExtractor mrpt::slam::CGridMapAligner::m_grid_feat_extr

private

Grid map features extractor.

Definition at line 60 of file CGridMapAligner.h.

◆ options

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

◆ TAlignerMethod

Constructor & Destructor Documentation

◆ CGridMapAligner()

Member Function Documentation

◆ Align()

◆ Align3D()

◆ Align3DPDF()

◆ AlignPDF()

◆ AlignPDF_correlation()

◆ AlignPDF_robustMatch()

◆ printf_debug()

Member Data Documentation

◆ m_grid_feat_extr

◆ options