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mrpt::slam::CGridMapAligner Class Reference


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

Definition at line 56 of file CGridMapAligner.h.

#include <mrpt/slam/CGridMapAligner.h>

Inheritance diagram for mrpt::slam::CGridMapAligner:
Inheritance graph
[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.

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

The type for selecting the grid-map alignment algorithm.

Enumerator:
amRobustMatch 
amCorrelation 
amModifiedRANSAC 

Definition at line 86 of file CGridMapAligner.h.


Constructor & Destructor Documentation

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

Definition at line 80 of file CGridMapAligner.h.


Member Function Documentation

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 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"

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.


Member Data Documentation

Grid map features extractor.

Definition at line 77 of file CGridMapAligner.h.




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