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.
Definition at line 56 of file CGridMapAligner.h.
#include <mrpt/slam/CGridMapAligner.h>
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. | |
Public Attributes | |
mrpt::slam::CGridMapAligner::TConfigParams | options |
The ICP algorithm configuration data. | |
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. |
The type for selecting the grid-map alignment algorithm.
Definition at line 86 of file CGridMapAligner.h.
mrpt::slam::CGridMapAligner::CGridMapAligner | ( | ) | [inline] |
Definition at line 80 of file CGridMapAligner.h.
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.
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. |
Implements mrpt::slam::CMetricMapsAlignmentAlgorithm.
Definition at line 251 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"
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. |
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.
Grid map features extractor.
Definition at line 77 of file CGridMapAligner.h.
The ICP algorithm configuration data.
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