This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).
Internally, the list of particles, each containing a hypothesis for the robot path plus its associated metric map, is stored in an object of class CMultiMetricMapPDF.
This class processes robot actions and observations sequentially (through the method CMetricMapBuilderRBPF::processActionObservation) and exploits the generic design of metric map classes in MRPT to deal with any number and combination of maps simultaneously: the likelihood of observations is the product of the likelihood in the different maps, etc.
A number of particle filter methods are implemented as well, by selecting the appropriate values in TConstructionOptions::PF_options. Not all the PF algorithms are implemented for all kinds of maps.
For an example of usage, check the application "rbpf-slam", in "apps/RBPF-SLAM". See also the wiki page.
\note Since MRPT 0.7.2, the new variables "localizeLinDistance,localizeAngDistance" are introduced to provide a way to update the robot pose at a different rate than the map is updated. \note Since MRPT 0.7.1 the semantics of the parameters "insertionLinDistance" and "insertionAngDistance" changes: the entire RBFP is now NOT updated unless odometry increments surpass the threshold (previously, only the map was NOT updated). This is done to gain efficiency. \note Since MRPT 0.6.2 this class implements full 6D SLAM. Previous versions worked in 2D + heading only.
Definition at line 46 of file CMetricMapBuilderRBPF.h.
#include <mrpt/slam/CMetricMapBuilderRBPF.h>
Classes | |
struct | TConstructionOptions |
Options for building a CMetricMapBuilderRBPF object, passed to the constructor. More... | |
struct | TStats |
This structure will hold stats after each execution of processActionObservation. More... | |
Public Member Functions | |
CMetricMapBuilderRBPF (const TConstructionOptions &initializationOptions) | |
Constructor. More... | |
CMetricMapBuilderRBPF () | |
This second constructor is created for the situation where a class member needs to be of type CMetricMapBuilderRBPF. More... | |
CMetricMapBuilderRBPF & | operator= (const CMetricMapBuilderRBPF &src) |
Copy Operator. More... | |
virtual | ~CMetricMapBuilderRBPF () |
Destructor. More... | |
void | initialize (const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), mrpt::poses::CPosePDF *x0=NULL) |
Initialize the method, starting with a known location PDF "x0" (or set to NULL to use the last keyframe in the simplemap) and a given fixed, past map. More... | |
void | clear () |
Clear all elements of the maps. More... | |
mrpt::poses::CPose3DPDFPtr | getCurrentPoseEstimation () const |
Returns a copy of the current best pose estimation as a pose PDF. More... | |
void | getCurrentMostLikelyPath (std::deque< mrpt::math::TPose3D > &outPath) const |
Returns the current most-likely path estimation (the path associated to the most likely particle). More... | |
void | processActionObservation (mrpt::obs::CActionCollection &action, mrpt::obs::CSensoryFrame &observations) |
Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description. More... | |
void | getCurrentlyBuiltMap (mrpt::maps::CSimpleMap &out_map) const |
Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. More... | |
const mrpt::maps::CMultiMetricMap * | getCurrentlyBuiltMetricMap () const |
Returns the map built so far. More... | |
unsigned int | getCurrentlyBuiltMapSize () |
Returns just how many sensory-frames are stored in the currently build map. More... | |
void | saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true) |
A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. More... | |
void | drawCurrentEstimationToImage (utils::CCanvas *img) |
A useful method for debugging: draws the current map and path hypotheses to a CCanvas. More... | |
void | saveCurrentPathEstimationToTextFile (const std::string &fil) |
A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively). More... | |
double | getCurrentJointEntropy () |
void | enableMapUpdating (bool enable) |
Enables or disables the map updating (default state is enabled) More... | |
void | loadCurrentMapFromFile (const std::string &fileName) |
Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file. More... | |
void | saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const |
Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file. More... | |
Public Attributes | |
mrpt::maps::CMultiMetricMapPDF | mapPDF |
The map PDF: It includes a path and associated map for each particle. More... | |
TStats | m_statsLastIteration |
This structure will hold stats after each execution of processActionObservation. More... | |
TOptions | options |
Protected Member Functions | |
void | enterCriticalSection () |
Enter critical section for map updating. More... | |
void | leaveCriticalSection () |
Leave critical section for map updating. More... | |
Protected Attributes | |
bayes::CParticleFilter::TParticleFilterOptions | m_PF_options |
The configuration of the particle filter. More... | |
float | insertionLinDistance |
Distances (linear and angular) for inserting a new observation into the map. More... | |
float | insertionAngDistance |
float | localizeLinDistance |
Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable). More... | |
float | localizeAngDistance |
mrpt::poses::CPose3DPDFGaussian | odoIncrementSinceLastLocalization |
Traveled distance since last localization update. More... | |
mrpt::poses::CPose3D | odoIncrementSinceLastMapUpdate |
Traveled distance since last map update. More... | |
mrpt::synch::CCriticalSection | critZoneChangingMap |
Critical zones. More... | |
CMetricMapBuilderRBPF::CMetricMapBuilderRBPF | ( | const TConstructionOptions & | initializationOptions | ) |
Constructor.
Definition at line 33 of file CMetricMapBuilderRBPF.cpp.
References clear(), and mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::verbosity_level.
CMetricMapBuilderRBPF::CMetricMapBuilderRBPF | ( | ) |
This second constructor is created for the situation where a class member needs to be of type CMetricMapBuilderRBPF.
Definition at line 52 of file CMetricMapBuilderRBPF.cpp.
References MRPT_LOG_WARN.
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virtual |
Destructor.
Definition at line 81 of file CMetricMapBuilderRBPF.cpp.
void CMetricMapBuilderRBPF::clear | ( | ) |
Clear all elements of the maps.
Definition at line 89 of file CMetricMapBuilderRBPF.cpp.
References mrpt::maps::CMultiMetricMapPDF::clear(), mapPDF, MRPT_LOG_DEBUG, odoIncrementSinceLastLocalization, odoIncrementSinceLastMapUpdate, and mrpt::poses::CPose3D::setFromValues().
Referenced by CMetricMapBuilderRBPF(), and initialize().
void CMetricMapBuilderRBPF::drawCurrentEstimationToImage | ( | utils::CCanvas * | img | ) |
A useful method for debugging: draws the current map and path hypotheses to a CCanvas.
Definition at line 344 of file CMetricMapBuilderRBPF.cpp.
References ASSERT_, mrpt::utils::CCanvas::drawImage(), mrpt::maps::CMultiMetricMapPDF::getCurrentMostLikelyMetricMap(), mrpt::utils::CImage::getHeight(), mrpt::maps::CMultiMetricMapPDF::getPath(), mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::getW(), mapPDF, MRPT_END, MRPT_START, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::particlesCount(), mrpt::utils::CImage::resize(), and mrpt::utils::round().
Referenced by saveCurrentEstimationToImage().
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inlineinherited |
Enables or disables the map updating (default state is enabled)
Definition at line 88 of file CMetricMapBuilder.h.
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inlineprotectedinherited |
Enter critical section for map updating.
Definition at line 40 of file CMetricMapBuilder.h.
References mrpt::synch::CCriticalSection::enter().
Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().
double CMetricMapBuilderRBPF::getCurrentJointEntropy | ( | ) |
Definition at line 469 of file CMetricMapBuilderRBPF.cpp.
References mrpt::maps::CMultiMetricMapPDF::getCurrentJointEntropy(), and mapPDF.
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Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.
Implements mrpt::slam::CMetricMapBuilder.
Definition at line 320 of file CMetricMapBuilderRBPF.cpp.
References mapPDF, mrpt::maps::CMultiMetricMapPDF::SFs, and mrpt::maps::CMultiMetricMapPDF::updateSensoryFrameSequence().
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Returns just how many sensory-frames are stored in the currently build map.
Implements mrpt::slam::CMetricMapBuilder.
Definition at line 335 of file CMetricMapBuilderRBPF.cpp.
References mapPDF, mrpt::maps::CMultiMetricMapPDF::SFs, and mrpt::maps::CSimpleMap::size().
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virtual |
Returns the map built so far.
NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "duplicate()".
Implements mrpt::slam::CMetricMapBuilder.
Definition at line 327 of file CMetricMapBuilderRBPF.cpp.
References mrpt::maps::CMultiMetricMapPDF::getCurrentMostLikelyMetricMap(), and mapPDF.
void CMetricMapBuilderRBPF::getCurrentMostLikelyPath | ( | std::deque< mrpt::math::TPose3D > & | outPath | ) | const |
Returns the current most-likely path estimation (the path associated to the most likely particle).
Definition at line 300 of file CMetricMapBuilderRBPF.cpp.
References mrpt::maps::CMultiMetricMapPDF::getPath(), mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::getW(), mapPDF, and mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::particlesCount().
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Returns a copy of the current best pose estimation as a pose PDF.
Implements mrpt::slam::CMetricMapBuilder.
Definition at line 284 of file CMetricMapBuilderRBPF.cpp.
References mrpt::maps::CMultiMetricMapPDF::getEstimatedPosePDF(), mapPDF, mrpt::poses::CPose3DPDFGaussian::mean, and odoIncrementSinceLastLocalization.
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Initialize the method, starting with a known location PDF "x0" (or set to NULL to use the last keyframe in the simplemap) and a given fixed, past map.
Implements mrpt::slam::CMetricMapBuilder.
Definition at line 254 of file CMetricMapBuilderRBPF.cpp.
References clear(), mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mrpt::maps::CSimpleMap::empty(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMeanVal(), mapPDF, MRPT_LOG_INFO_STREAM, mrpt::maps::CSimpleMap::rbegin(), and mrpt::maps::CSimpleMap::size().
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inlineprotectedinherited |
Leave critical section for map updating.
Definition at line 42 of file CMetricMapBuilder.h.
References mrpt::synch::CCriticalSection::leave().
Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().
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inherited |
Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file.
Definition at line 56 of file CMetricMapBuilder.cpp.
References mrpt::maps::CSimpleMap::clear(), mrpt::system::fileExists(), mrpt::slam::CMetricMapBuilder::initialize(), MRPT_LOG_INFO_STREAM, and MRPT_LOG_WARN_STREAM.
Referenced by mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile().
CMetricMapBuilderRBPF & CMetricMapBuilderRBPF::operator= | ( | const CMetricMapBuilderRBPF & | src | ) |
Copy Operator.
Definition at line 61 of file CMetricMapBuilderRBPF.cpp.
References insertionAngDistance, insertionLinDistance, localizeAngDistance, localizeLinDistance, m_PF_options, m_statsLastIteration, mapPDF, odoIncrementSinceLastLocalization, and odoIncrementSinceLastMapUpdate.
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virtual |
Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description.
action | The incremental 2D pose change in the robot pose. This value is deterministic. |
observations | The set of observations that robot senses at the new pose. Statistics will be saved to statsLastIteration |
Implements mrpt::slam::CMetricMapBuilder.
Definition at line 106 of file CMetricMapBuilderRBPF.cpp.
References mrpt::slam::CMetricMapBuilder::TOptions::alwaysInsertByClass, ASSERT_, mrpt::utils::CListOfClasses::begin(), mrpt::obs::CSensoryFrame::begin(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::math::cov(), mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mrpt::slam::CMetricMapBuilder::TOptions::debugForceInsertion, mrpt::utils::CListOfClasses::end(), mrpt::obs::CSensoryFrame::end(), mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::ESS(), mrpt::obs::CActionRobotMovement3D::estimationMethod, mrpt::bayes::CParticleFilter::executeOn(), mrpt::format(), mrpt::mrpt::format(), mrpt::obs::CActionCollection::getActionByClass(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::maps::CMultiMetricMapPDF::getEstimatedPosePDF(), mrpt::poses::CPose3DPDFParticles::getMean(), mrpt::obs::CActionCollection::insert(), insertionAngDistance, insertionLinDistance, mrpt::maps::CMultiMetricMapPDF::insertObservation(), localizeAngDistance, localizeLinDistance, mrpt::bayes::CParticleFilter::m_options, mrpt::bayes::CParticleFilterData< T >::m_particles, m_PF_options, m_statsLastIteration, mapPDF, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO, MRPT_LOG_INFO_STREAM, MRPT_LOG_WARN, MRPT_LOG_WARN_STREAM, MRPT_START, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::slam::CMetricMapBuilderRBPF::TStats::observationsInserted, odoIncrementSinceLastLocalization, odoIncrementSinceLastMapUpdate, mrpt::slam::CMetricMapBuilder::options, mrpt::obs::CActionRobotMovement3D::poseChange, RAD2DEG, mrpt::poses::CPose3D::setFromValues(), mrpt::maps::CMultiMetricMapPDF::SFs, mrpt::maps::CSimpleMap::size(), mrpt::obs::CSensoryFrame::size(), mrpt::obs::CAction::timestamp, and mrpt::poses::CPose3D::yaw().
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virtual |
A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.
file | The output file name |
formatEMF_BMP | Output format = true:EMF, false:BMP |
Implements mrpt::slam::CMetricMapBuilder.
Definition at line 445 of file CMetricMapBuilderRBPF.cpp.
References CH_GRAY, drawCurrentEstimationToImage(), MRPT_END, and MRPT_START.
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inherited |
Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file.
Definition at line 82 of file CMetricMapBuilder.cpp.
References CFileGZOutputStream, mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMap(), and MRPT_LOG_INFO_STREAM.
Referenced by mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile().
void CMetricMapBuilderRBPF::saveCurrentPathEstimationToTextFile | ( | const std::string & | fil | ) |
A logging utility: saves the current path estimation for each particle in a text file (a row per particle, each 3-column-entry is a set [x,y,phi], respectively).
Definition at line 477 of file CMetricMapBuilderRBPF.cpp.
References mapPDF, and mrpt::maps::CMultiMetricMapPDF::saveCurrentPathEstimationToTextFile().
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protectedinherited |
Critical zones.
Definition at line 38 of file CMetricMapBuilder.h.
Referenced by mrpt::slam::CMetricMapBuilderICP::initialize(), initialize(), processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::processObservation().
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Definition at line 57 of file CMetricMapBuilderRBPF.h.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().
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Distances (linear and angular) for inserting a new observation into the map.
Definition at line 57 of file CMetricMapBuilderRBPF.h.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().
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Definition at line 60 of file CMetricMapBuilderRBPF.h.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().
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Distances (linear and angular) for updating the robot pose estimate (and particles weighs, if applicable).
Definition at line 60 of file CMetricMapBuilderRBPF.h.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), operator=(), and processActionObservation().
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The configuration of the particle filter.
Definition at line 54 of file CMetricMapBuilderRBPF.h.
Referenced by operator=(), and processActionObservation().
TStats mrpt::slam::CMetricMapBuilderRBPF::m_statsLastIteration |
This structure will hold stats after each execution of processActionObservation.
Definition at line 173 of file CMetricMapBuilderRBPF.h.
Referenced by operator=(), and processActionObservation().
mrpt::maps::CMultiMetricMapPDF mrpt::slam::CMetricMapBuilderRBPF::mapPDF |
The map PDF: It includes a path and associated map for each particle.
Definition at line 50 of file CMetricMapBuilderRBPF.h.
Referenced by clear(), drawCurrentEstimationToImage(), getCurrentJointEntropy(), getCurrentlyBuiltMap(), getCurrentlyBuiltMapSize(), getCurrentlyBuiltMetricMap(), getCurrentMostLikelyPath(), getCurrentPoseEstimation(), initialize(), operator=(), processActionObservation(), and saveCurrentPathEstimationToTextFile().
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Traveled distance since last localization update.
Definition at line 63 of file CMetricMapBuilderRBPF.h.
Referenced by clear(), getCurrentPoseEstimation(), operator=(), and processActionObservation().
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Traveled distance since last map update.
Definition at line 64 of file CMetricMapBuilderRBPF.h.
Referenced by clear(), operator=(), and processActionObservation().
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inherited |
Definition at line 124 of file CMetricMapBuilder.h.
Referenced by processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::processObservation().
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