CGridMapAligner.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "slam-precomp.h"   // Precompiled headers

#include <mrpt/slam/CGridMapAligner.h>
#include <mrpt/random.h>
#include <mrpt/poses/CPoint2DPDFGaussian.h>
#include <mrpt/poses/CPosePDFGaussian.h>
#include <mrpt/poses/CPose3DPDFGaussian.h>
#include <mrpt/math/ops_containers.h>
#include <mrpt/math/distributions.h>
#include <mrpt/math/geometry.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/utils/CEnhancedMetaFile.h>

#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/maps/CMultiMetricMap.h>
#include <mrpt/slam/CICP.h>
#include <mrpt/maps/CLandmarksMap.h>
#include <mrpt/tfest/se2.h>


using namespace mrpt::math;
using namespace mrpt::slam;
using namespace mrpt::maps;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace mrpt::random;
using namespace mrpt::vision;
using namespace std;

/*---------------------------------------------------------------
The method for aligning a pair of 2D points map.
*   The meaning of some parameters are implementation dependent,
*    so look for derived classes for instructions.
*  The target is to find a PDF for the pose displacement between
*   maps, <b>thus the pose of m2 relative to m1</b>. This pose
*   is returned as a PDF rather than a single value.
*
* \param m1                     [IN] The first map
* \param m2                     [IN] The second map. The pose of this map respect to m1 is to be estimated.
* \param grossEst               [IN] IGNORED
* \param runningTime    [OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.
* \param info                   [OUT] See derived classes for details, or NULL if it isn't needed.
*
* \sa CPointsMapAlignmentAlgorithm
  ---------------------------------------------------------------*/
CPosePDFPtr CGridMapAligner::AlignPDF(
    const mrpt::maps::CMetricMap                *mm1,
    const mrpt::maps::CMetricMap                *mm2,
    const CPosePDFGaussian      &initialEstimationPDF,
    float                                       *runningTime,
    void                                        *info )
{
        MRPT_START

        switch( options.methodSelection )
        {
        case CGridMapAligner::amCorrelation:
                return AlignPDF_correlation(mm1,mm2,initialEstimationPDF,runningTime,info);

        case CGridMapAligner::amModifiedRANSAC:
        case CGridMapAligner::amRobustMatch:
                // The same function has an internal switch for the specific method:
                return AlignPDF_robustMatch(mm1,mm2,initialEstimationPDF,runningTime,info);

        default:
                THROW_EXCEPTION("Wrong value found in 'options.methodSelection'!!");
        }

        MRPT_END
}


bool myVectorOrder( const pair<size_t,float> & o1, const pair<size_t,float> & o2 )
{
        return o1.second < o2.second;
}

/*---------------------------------------------------------------
                                        AlignPDF_robustMatch
---------------------------------------------------------------*/
CPosePDFPtr CGridMapAligner::AlignPDF_robustMatch(
    const mrpt::maps::CMetricMap                *mm1,
    const mrpt::maps::CMetricMap                *mm2,
    const CPosePDFGaussian      &initialEstimationPDF,
    float                                       *runningTime,
    void                                        *info )
{
        MRPT_START

        ASSERT_( options.methodSelection==CGridMapAligner::amRobustMatch || options.methodSelection==CGridMapAligner::amModifiedRANSAC)

        TReturnInfo                                                             outInfo;
        mrpt::utils::TMatchingPairList                  &correspondences = outInfo.correspondences; // Use directly this placeholder to save 1 variable & 1 copy.
        mrpt::utils::TMatchingPairList                  largestConsensusCorrs;

        CTicTac                                                                 *tictac=NULL;

        CPose2D                                                                 grossEst = initialEstimationPDF.mean;

        CLandmarksMapPtr                                                lm1( new CLandmarksMap() );
        CLandmarksMapPtr                                                lm2( new CLandmarksMap() );

        std::vector<size_t>                                             idxs1,idxs2;
        std::vector<size_t>::iterator                   it1,it2;

        // Asserts:
        // -----------------
        const CMultiMetricMap                   *multimap1 = NULL;
        const CMultiMetricMap                   *multimap2 = NULL;
        const COccupancyGridMap2D               *m1 = NULL;
        const COccupancyGridMap2D               *m2 = NULL;

        if (IS_CLASS(mm1, CMultiMetricMap) && IS_CLASS(mm2, CMultiMetricMap) )
        {
                multimap1 = static_cast<const CMultiMetricMap*>(mm1);
                multimap2 = static_cast<const CMultiMetricMap*>(mm2);

                ASSERT_(multimap1->m_gridMaps.size() && multimap1->m_gridMaps[0].present());
                ASSERT_(multimap2->m_gridMaps.size() && multimap2->m_gridMaps[0].present());

                m1 = multimap1->m_gridMaps[0].pointer();
                m2 = multimap2->m_gridMaps[0].pointer();
        }
        else if ( IS_CLASS(mm1, COccupancyGridMap2D) && IS_CLASS(mm2, COccupancyGridMap2D) )
        {
                m1 = static_cast<const COccupancyGridMap2D*>(mm1);
                m2 = static_cast<const COccupancyGridMap2D*>(mm2);
        }
        else THROW_EXCEPTION("Metric maps must be of classes COccupancyGridMap2D or CMultiMetricMap")

        ASSERT_( m1->getResolution() == m2->getResolution() );

        // The algorithm output auxiliar info:
        // -------------------------------------------------
        outInfo.goodness                = 1.0f;

        outInfo.landmarks_map1 = lm1;
        outInfo.landmarks_map2 = lm2;


        // The PDF to estimate:
        // ------------------------------------------------------
        CPosePDFSOGPtr pdf_SOG = CPosePDFSOG::Create();

        // Extract features from grid-maps:
        // ------------------------------------------------------
        const size_t N1 = std::max(40,mrpt::utils::round( m1->getArea() * options.featsPerSquareMeter));
        const size_t N2 = std::max(40,mrpt::utils::round( m2->getArea() * options.featsPerSquareMeter));

        m_grid_feat_extr.extractFeatures(*m1,*lm1, N1, options.feature_descriptor, options.feature_detector_options );
        m_grid_feat_extr.extractFeatures(*m2,*lm2, N2, options.feature_descriptor, options.feature_detector_options );

        if (runningTime)
        {
                tictac = new CTicTac();
                tictac->Tic();
        }

        const size_t nLM1 = lm1->size();
        const size_t nLM2 = lm2->size();

        //  At least two landmarks at each map!
        // ------------------------------------------------------
        if (nLM1<2 || nLM2<2)
        {
                outInfo.goodness = 0;
        }
        else
        {
//#define METHOD_FFT
//#define DEBUG_SHOW_CORRELATIONS


                // Compute correlation between landmarks:
                // ---------------------------------------------
                CMatrixFloat    CORR(lm1->size(),lm2->size()),auxCorr;
                CImage          im1(1,1,1),im2(1,1,1);          // Grayscale
                CVectorFloat    corr;
                unsigned int            corrsCount = 0;
                std::vector<bool>       hasCorr(nLM1,false);

                const double thres_max = options.threshold_max;
                const double thres_delta = options.threshold_delta;

                //CDisplayWindowPlotsPtr        auxWin;
                if (options.debug_show_corrs)
                {
                        //auxWin = CDisplayWindowPlotsPtr( new CDisplayWindowPlots("Individual corr.") );
                        std::cerr << "Warning: options.debug_show_corrs has no effect since MRPT 0.9.1\n";
                }


                for (size_t idx1=0;idx1<nLM1;idx1++)
                {
                        //CVectorFloat          corrs_indiv;
                        vector<pair<size_t,float> >  corrs_indiv;  // (index, distance); Index is used to recover the original index after sorting.
                        vector<float> corrs_indiv_only;
                        corrs_indiv.reserve(nLM2);
                        corrs_indiv_only.reserve(nLM2);

                        for (size_t idx2=0;idx2<nLM2;idx2++)
                        {
                                float   minDist;
                                minDist = lm1->landmarks.get(idx1)->features[0]->descriptorDistanceTo( *lm2->landmarks.get(idx2)->features[0]);

                                corrs_indiv.push_back(std::make_pair(idx2,minDist));
                                corrs_indiv_only.push_back(minDist);
                        } // end for idx2

                        //double corr_mean,corr_std;
                        //mrpt::math::meanAndStd(corrs_indiv_only,corr_mean,corr_std);
                        const double corr_best = mrpt::math::minimum(corrs_indiv_only);
                        // cout << "M: " << corr_mean << " std: " << corr_std << " best: " << corr_best << endl;


                        // Sort the list and keep the N best features:
                        std::sort(corrs_indiv.begin(),corrs_indiv.end(), myVectorOrder );

                        //const size_t nBestToKeep = std::min( (size_t)30, corrs_indiv.size() );
                        const size_t nBestToKeep = corrs_indiv.size();

                        for (size_t w=0;w<nBestToKeep;w++)
                        {
                                if (corrs_indiv[w].second <= thres_max &&  corrs_indiv[w].second <= (corr_best+thres_delta) )
                                {
                                        idxs1.push_back(idx1);
                                        idxs2.push_back( corrs_indiv[w].first );
                                        outInfo.correspondences_dists_maha.push_back( TReturnInfo::TPairPlusDistance(idx1,corrs_indiv[w].first, corrs_indiv[w].second ) );
                                }
                        }

#if 0
                        if (options.debug_show_corrs)
                        {
                                auxWin->setWindowTitle(format("Corr: %i - rest", int(idx1)));

                                auxWin->plot(corrs_indiv_only,".3","the_corr");

                                CVectorFloat xs(2), ys(2);
                                xs[0]=0; xs[1]=corrs_indiv_only.size()+1;

                                ys[0]=ys[1] = corr_best+thres_delta;
                                auxWin->plot(xs,ys,"g","the_thres");

                                if (idx1==0) auxWin->axis_fit();
                                auxWin->waitForKey();
                        }
#endif

                } // end for idx1

                // Save an image with each feature and its matches:
                if (options.save_feat_coors)
                {
                        mrpt::system::deleteFilesInDirectory("grid_feats");
                        mrpt::system::createDirectory("grid_feats");

                        std::map<size_t, std::set<size_t> > corrs_by_idx;
                        for (size_t l=0;l<idxs1.size();l++)
                                corrs_by_idx[idxs1[l]].insert( idxs2[l] );

                        for (std::map<size_t, std::set<size_t> >::iterator it=corrs_by_idx.begin();it!=corrs_by_idx.end();++it)
                        {
                                CMatrixFloat    descriptor1;
                                lm1->landmarks.get(it->first)->features[0]->getFirstDescriptorAsMatrix(descriptor1);

                                im1 = CImage( descriptor1, true );

                                const size_t FEAT_W = im1.getWidth();
                                const size_t FEAT_H = im1.getHeight();
                                const size_t nF = it->second.size();

                                CImage  img_compose( FEAT_W*2 + 15, 10 + (5+FEAT_H) * nF );
                                img_compose.filledRectangle(0,0,img_compose.getWidth()-1,img_compose.getHeight()-1,TColor::black );

                                img_compose.drawImage(5,5, im1 );

                                size_t j;
                                std::set<size_t>::iterator it_j;
                                string fil = format("grid_feats/_FEAT_MATCH_%03i", (int)it->first );

                                for (j=0,it_j=it->second.begin();j<nF;++j,++it_j)
                                {
                                        fil+=format("_%u",static_cast<unsigned int>(*it_j) );

                                        CMatrixFloat    descriptor2;
                                        lm2->landmarks.get( *it_j )->features[0]->getFirstDescriptorAsMatrix(descriptor2);
                                        im2 = CImage( descriptor2, true );
                                        img_compose.drawImage(10+FEAT_W,5 + j*(FEAT_H+5), im2 );
                                }
                                fil+=".png";
                                img_compose.saveToFile( fil );
                        } // end for map

                }

                // ------------------------------------------------------------------
                // Create the list of correspondences from the lists: idxs1 & idxs2
                // ------------------------------------------------------------------
                correspondences.clear();
                for (it1=idxs1.begin(),it2=idxs2.begin();it1!=idxs1.end();++it1,++it2)
                {
                        mrpt::utils::TMatchingPair      mp;
                        mp.this_idx = *it1;
                        mp.this_x   = lm1->landmarks.get(*it1)->pose_mean.x;
                        mp.this_y   = lm1->landmarks.get(*it1)->pose_mean.y;
                        mp.this_z   = lm1->landmarks.get(*it1)->pose_mean.z;

                        mp.other_idx = *it2;
                        mp.other_x       = lm2->landmarks.get(*it2)->pose_mean.x;
                        mp.other_y       = lm2->landmarks.get(*it2)->pose_mean.y;
                        mp.other_z       = lm2->landmarks.get(*it2)->pose_mean.z;
                        correspondences.push_back( mp );

                        if (!hasCorr[*it1])
                        {
                                hasCorr[*it1]= true;
                                corrsCount++;
                        }
                } // end for corres.

                outInfo.goodness = (2.0f * corrsCount) / (nLM1+nLM2);

                // Compute the estimation using ALL the correspondences (NO ROBUST):
                // ----------------------------------------------------------------------
                mrpt::math::TPose2D noRobustEst;
                if (! mrpt::tfest::se2_l2(correspondences,noRobustEst) )
                {
                        // There's no way to match the maps! e.g. no correspondences
                        outInfo.goodness = 0;
                        pdf_SOG->clear();
                        outInfo.sog1 = pdf_SOG;
                        outInfo.sog2 = pdf_SOG;
                        outInfo.sog3 = pdf_SOG;
                }
                else
                {
                        outInfo.noRobustEstimation = mrpt::poses::CPose2D(noRobustEst);
                        MRPT_LOG_INFO( mrpt::format("[CGridMapAligner] Overall estimation(%u corrs, total: %u): (%.03f,%.03f,%.03fdeg)\n",
                                corrsCount,(unsigned)correspondences.size(),
                                outInfo.noRobustEstimation.x(),
                                outInfo.noRobustEstimation.y(),
                                RAD2DEG(outInfo.noRobustEstimation.phi() )) );

                        // The list of SOG modes & their corresponding sub-sets of matchings:
                        typedef mrpt::aligned_containers<mrpt::utils::TMatchingPairList, CPosePDFSOG::TGaussianMode>::map_t  TMapMatchingsToPoseMode;
                        TMapMatchingsToPoseMode sog_modes;

                        // ---------------------------------------------------------------
                        // Now, we have to choose between the methods:
                        //  - CGridMapAligner::amRobustMatch  ("normal" RANSAC)
                        //  - CGridMapAligner::amModifiedRANSAC
                        // ---------------------------------------------------------------
                        if (options.methodSelection== CGridMapAligner::amRobustMatch)
                        {
                                // ====================================================
                                //             METHOD: "Normal" RANSAC
                                // ====================================================

                                // RANSAC over the found correspondences:
                                // -------------------------------------------------
                                const unsigned int min_inliers = options.ransac_minSetSizeRatio *(nLM1+nLM2)/2;

                                mrpt::tfest::TSE2RobustParams tfest_params;
                                tfest_params.ransac_minSetSize = min_inliers;
                                tfest_params.ransac_maxSetSize = nLM1+nLM2;
                                tfest_params.ransac_mahalanobisDistanceThreshold = options.ransac_mahalanobisDistanceThreshold;
                                tfest_params.ransac_nSimulations = 0; // 0=auto
                                tfest_params.ransac_fuseByCorrsMatch = true;
                                tfest_params.ransac_fuseMaxDiffXY  = 0.01;
                                tfest_params.ransac_fuseMaxDiffPhi = DEG2RAD(0.1);
                                tfest_params.ransac_algorithmForLandmarks = true; 
                                tfest_params.probability_find_good_model = options.ransac_prob_good_inliers;
                                tfest_params.verbose = false;

                                mrpt::tfest::TSE2RobustResult tfest_result;
                                mrpt::tfest::se2_l2_robust(correspondences, options.ransac_SOG_sigma_m, tfest_params, tfest_result);
                                
                                ASSERT_(pdf_SOG);
                                *pdf_SOG              = tfest_result.transformation;
                                largestConsensusCorrs = tfest_result.largestSubSet;

                                // Simplify the SOG by merging close modes:
                                // -------------------------------------------------
                                size_t nB = pdf_SOG->size();
                                outInfo.sog1 = pdf_SOG;

                                // Keep only the most-likely Gaussian mode:
                                CPosePDFSOG::TGaussianMode best_mode;
                                best_mode.log_w=-std::numeric_limits<double>::max();

                                for (size_t n=0;n<pdf_SOG->size();n++)
                                {
                                        const CPosePDFSOG::TGaussianMode & m = (*pdf_SOG)[n];

                                        if ( m.log_w >best_mode.log_w)
                                                best_mode = m;
                                }

                                pdf_SOG->clear();
                                pdf_SOG->push_back( best_mode );
                                outInfo.sog2 = pdf_SOG;

                                MRPT_LOG_INFO_STREAM( "[CGridMapAligner] amRobustMatch: "<< nB << " SOG modes reduced to "<< pdf_SOG->size() << " (most-likely) (min.inliers="<< min_inliers << ")\n");

                        } // end of amRobustMatch
                        else
                        {
                                // ====================================================
                                //             METHOD: "Modified" RANSAC
                                // ====================================================
                                mrpt::utils::TMatchingPairList  all_corrs = correspondences;

                                const size_t nCorrs = all_corrs.size();
                                ASSERT_(nCorrs>=2)

                                pdf_SOG->clear();               // Start with 0 Gaussian modes

                                // Build a points-map for exploiting its KD-tree:
                                // ----------------------------------------------------
                                CSimplePointsMap        lm1_pnts, lm2_pnts;
                                lm1_pnts.reserve(nLM1);
                                for (size_t i=0;i<nLM1;i++)     lm1_pnts.insertPoint( lm1->landmarks.get(i)->pose_mean );
                                lm2_pnts.reserve(nLM2);
                                for (size_t i=0;i<nLM2;i++)     lm2_pnts.insertPoint( lm2->landmarks.get(i)->pose_mean );

                                // RANSAC loop
                                // ---------------------
                                const size_t minInliersTOaccept  = round(options.ransac_minSetSizeRatio * 0.5 * (nLM1+nLM2));
                                // Set an initial # of iterations:
                                const unsigned int ransac_min_nSimulations =  2*(nLM1 + nLM2); //1000;
                                unsigned int ransac_nSimulations = 10;  // It doesn't matter actually, since will be changed in the first loop
                                const double probability_find_good_model = 0.9999;

                                const double chi2_thres_dim1 = mrpt::math::chi2inv(options.ransac_chi2_quantile, 1);
                                const double chi2_thres_dim2 = mrpt::math::chi2inv(options.ransac_chi2_quantile, 2);

                                // Generic 2x2 covariance matrix for all features in their local coords:
                                CMatrixDouble22 COV_pnt;
                                COV_pnt.get_unsafe(0,0) =
                                COV_pnt.get_unsafe(1,1) = square( options.ransac_SOG_sigma_m );

                                // The absolute number of trials.
                                // in practice it's only important for a reduced number of correspondences, to avoid a dead-lock:
                                //  It's the binomial coefficient:
                                //   / n \      n!          n * (n-1)
                                //   |   | = ----------- = -----------
                                //   \ 2 /    2! (n-2)!         2
                                //
                                const unsigned int max_trials = (nCorrs*(nCorrs-1)/2) * 5 ; // "*5" is just for safety...

                                unsigned int iter = 0;   // Valid iterations (those passing the first mahalanobis test)
                                unsigned int trials = 0; // counter of all iterations, including "iter" + failing ones.
                                while (iter<ransac_nSimulations && trials<max_trials )  // ransac_nSimulations can be dynamic
                                {
                                        trials++;

                                        mrpt::utils::TMatchingPairList  tentativeSubSet;

                                        // Pick 2 random correspondences:
                                        uint32_t idx1,idx2;
                                        idx1 = randomGenerator.drawUniform32bit() % nCorrs;
                                        do {
                                                idx2 = randomGenerator.drawUniform32bit() % nCorrs;
                                        }
                                        while (idx1==idx2); // Avoid a degenerated case!

                                        // Uniqueness of features:
                                        if (all_corrs[ idx1 ].this_idx==all_corrs[ idx2 ].this_idx ||
                                                all_corrs[ idx1 ].this_idx==all_corrs[ idx2 ].other_idx ) continue;
                                        if (all_corrs[ idx1 ].other_idx==all_corrs[ idx2 ].this_idx ||
                                                all_corrs[ idx1 ].other_idx==all_corrs[ idx2 ].other_idx ) continue;

                                        // Check the feasibility of this pair "idx1"-"idx2":
                                        //  The distance between the pair of points in MAP1 must be very close
                                        //   to that of their correspondences in MAP2:
                                        const double corrs_dist1 = mrpt::math::distanceBetweenPoints(
                                                all_corrs[ idx1 ].this_x, all_corrs[ idx1 ].this_y, all_corrs[ idx1 ].this_z,
                                                all_corrs[ idx2 ].this_x, all_corrs[ idx2 ].this_y, all_corrs[ idx2 ].this_z );

                                        const double corrs_dist2 = mrpt::math::distanceBetweenPoints(
                                                all_corrs[ idx1 ].other_x, all_corrs[ idx1 ].other_y, all_corrs[ idx1 ].other_z,
                                                all_corrs[ idx2 ].other_x, all_corrs[ idx2 ].other_y, all_corrs[ idx2 ].other_z );


                                        // Is is a consistent possibility?
                                        //  We use a chi2 test (see paper for the derivation)
                                        const double corrs_dist_chi2 =
                                                square( square(corrs_dist1)-square(corrs_dist2) ) /
                                                (8.0* square(options.ransac_SOG_sigma_m) * (square(corrs_dist1)+square(corrs_dist2)) );

                                        if (corrs_dist_chi2 > chi2_thres_dim1  )
                                                continue; // Nope

                                        iter++;  // Do not count iterations if they fail the test above.

                                        // before proceeding with this hypothesis, is it an old one?
                                        bool is_new_hyp = true;
                                        for (TMapMatchingsToPoseMode::iterator itOldHyps=sog_modes.begin();itOldHyps!=sog_modes.end();++itOldHyps)
                                        {
                                                if (itOldHyps->first.contains( all_corrs[ idx1 ] ) &&
                                                        itOldHyps->first.contains( all_corrs[ idx2 ] ) )
                                                {
                                                        // Increment weight:
                                                        itOldHyps->second.log_w = std::log( std::exp(itOldHyps->second.log_w) + 1.0 );
                                                        is_new_hyp = false;
                                                        break;
                                                }
                                        }
                                        if (!is_new_hyp)
                                                continue;

                                        // Ok, it's a new hypothesis:
                                        tentativeSubSet.push_back( all_corrs[ idx1 ] );
                                        tentativeSubSet.push_back( all_corrs[ idx2 ] );

                                        // Maintain a list of already used landmarks IDs in both maps to avoid repetitions:
                                        vector_bool     used_landmarks1(nLM1,false);
                                        vector_bool     used_landmarks2(nLM2,false);

                                        used_landmarks1[ all_corrs[ idx1 ].this_idx ] = true;
                                        used_landmarks1[ all_corrs[ idx2 ].this_idx ] = true;
                                        used_landmarks2[ all_corrs[ idx1 ].other_idx] = true;
                                        used_landmarks2[ all_corrs[ idx2 ].other_idx] = true;


                                        // Build the transformation for these temptative correspondences:
                                        bool keep_incorporating = true;
                                        CPosePDFGaussian temptPose;
                                        do  // Incremently incorporate inliers:
                                        {
                                                if (!mrpt::tfest::se2_l2( tentativeSubSet, temptPose ))
                                                        continue; // Invalid matching...

                                                // The computed cov is "normalized", i.e. must be multiplied by std^2_xy
                                                temptPose.cov *= square( options.ransac_SOG_sigma_m );

                                                //cout << "q: " << temptPose << endl;

                                                // Find the landmark in MAP2 with the best (maximum) product-integral:
                                                //   (i^* , j^*) = arg max_(i,j) \int p_i()p_j()
                                                //----------------------------------------------------------------------
                                                const double ccos = cos(temptPose.mean.phi());
                                                const double ssin = sin(temptPose.mean.phi());

                                                CMatrixDouble22 Hc;  // Jacobian wrt point_j
                                                Hc.get_unsafe(1,1) = ccos;
                                                Hc.get_unsafe(0,0) = ccos;
                                                Hc.get_unsafe(1,0) = ssin;
                                                Hc.get_unsafe(0,1) = -ssin;

                                                CMatrixFixedNumeric<double,2,3> Hq;  // Jacobian wrt transformation q
                                                Hq(0,0) = 1;
                                                Hq(1,1) = 1;

                                                TPoint2D p2_j_local;
                                                vector<float>  matches_dist;
                                                std::vector<size_t> matches_idx;

                                                CPoint2DPDFGaussian  pdf_M2_j;
                                                CPoint2DPDFGaussian  pdf_M1_i;


// Use integral-of-product vs. mahalanobis distances to match:
#define GRIDMAP_USE_PROD_INTEGRAL

#ifdef GRIDMAP_USE_PROD_INTEGRAL
                                                double                          best_pair_value = 0;
#else
                                                double                          best_pair_value = std::numeric_limits<double>::max();
#endif
                                                double                          best_pair_d2 = std::numeric_limits<double>::max();
                                                pair<size_t,size_t>     best_pair_ij;

//#define SHOW_CORRS

#ifdef SHOW_CORRS
                                                CDisplayWindowPlots     win("Matches");
#endif
                                                for (size_t j=0;j<nLM2;j++)
                                                {
                                                        if ( used_landmarks2[j] ) continue;

                                                        lm2_pnts.getPoint(j,p2_j_local); // In local coords.
                                                        pdf_M2_j.mean = mrpt::poses::CPoint2D(temptPose.mean + p2_j_local); // In (temptative) global coords:
                                                        pdf_M2_j.cov.get_unsafe(0,0) =
                                                        pdf_M2_j.cov.get_unsafe(1,1) = square( options.ransac_SOG_sigma_m );

#ifdef SHOW_CORRS
                                                        win.plotEllipse( pdf_M2_j.mean.x(),pdf_M2_j.mean.y(),pdf_M2_j.cov,2,"b-",format("M2_%u",(unsigned)j),true);
#endif

                                                        static const unsigned int N_KDTREE_SEARCHED = 3;

                                                        // Look for a few close features which may be potential matches:
                                                        lm1_pnts.kdTreeNClosestPoint2DIdx(
                                                                pdf_M2_j.mean.x(),pdf_M2_j.mean.y(),
                                                                N_KDTREE_SEARCHED,
                                                                matches_idx,
                                                                matches_dist);

                                                        // And for each one, compute the product-integral:
                                                        for (size_t u=0;u<matches_idx.size();u++)
                                                        {
                                                                if ( used_landmarks1[ matches_idx[u] ] ) continue;

                                                                // Jacobian wrt transformation q
                                                                Hq.get_unsafe(0,2) = -p2_j_local.x*ssin - p2_j_local.y*ccos;
                                                                Hq.get_unsafe(1,2) =  p2_j_local.x*ccos - p2_j_local.y*ssin;

                                                                // COV_j = Hq \Sigma_q Hq^t + Hc Cj Hc^t
                                                                Hc.multiply_HCHt(COV_pnt,pdf_M1_i.cov);
                                                                Hq.multiply_HCHt(temptPose.cov,pdf_M1_i.cov,true);

                                                                float px,py;
                                                                lm1_pnts.getPoint(matches_idx[u], px,py);
                                                                pdf_M1_i.mean.x(px);
                                                                pdf_M1_i.mean.y(py);

#ifdef SHOW_CORRS
                                                                win.plotEllipse( pdf_M1_i.mean.x(),pdf_M1_i.mean.y(),pdf_M1_i.cov,2,"r-",format("M1_%u",(unsigned)matches_idx[u]),true);
#endif


                                                                // And now compute the product integral:
#ifdef GRIDMAP_USE_PROD_INTEGRAL
                                                                const double prod_ij = pdf_M1_i.productIntegralWith(pdf_M2_j);
                                                                //const double prod_ij_d2 = square( pdf_M1_i.mahalanobisDistanceTo(pdf_M2_j) );

                                                                if (prod_ij>best_pair_value)
#else
                                                                const double prod_ij = pdf_M1_i.mean.distanceTo(pdf_M2_j.mean);
                                                                if (prod_ij<best_pair_value)
#endif
                                                                {
                                                                        //const double prodint_ij = pdf_M1_i.productIntegralWith2D(pdf_M2_j);

                                                                        best_pair_value = prod_ij;
                                                                        best_pair_ij.first = matches_idx[u];
                                                                        best_pair_ij.second = j;

                                                                        best_pair_d2 = square( pdf_M1_i.mahalanobisDistanceTo(pdf_M2_j) );

                                                                        //cout << "P1: " << pdf_M1_i.mean << " C= " << pdf_M1_i.cov.inMatlabFormat() << endl;
                                                                        //cout << "P2: " << pdf_M2_j.mean << " C= " << pdf_M2_j.cov.inMatlabFormat() << endl;
                                                                        //cout << "  -> " << format("%e",prod_ij) << " d2: " << best_pair_d2 << endl << endl;
                                                                }
                                                        }  // end for u (closest matches of LM2 in MAP 1)

#ifdef SHOW_CORRS
                                                win.axis_fit(true);
                                                win.waitForKey();
                                                win.clear();
#endif

                                                } // end for each LM2

                                                // Stop when the best choice has a bad mahal. dist.
                                                keep_incorporating = false;

                                                // For the best (i,j), gate by the mahalanobis distance:
                                                if (best_pair_d2 < chi2_thres_dim2 )
                                                {
                                                        // AND, also, check if the descriptors have some resemblance!!
                                                        // ----------------------------------------------------------------
                                                        //double feat_dist = lm1->landmarks.get(best_pair_ij.first)->features[0]->descriptorDistanceTo(*lm1->landmarks.get(best_pair_ij.second)->features[0]);
                                                        //if (feat_dist< options.threshold_max)
                                                        {
                                                                float p1_i_localx, p1_i_localy;
                                                                float p2_j_localx, p2_j_localy;
                                                                lm1_pnts.getPoint(best_pair_ij.first, p1_i_localx, p1_i_localy);
                                                                lm2_pnts.getPoint(best_pair_ij.second,p2_j_localx, p2_j_localy); // In local coords.

                                                                used_landmarks1[ best_pair_ij.first  ] = true;
                                                                used_landmarks2[ best_pair_ij.second ] = true;

                                                                tentativeSubSet.push_back( mrpt::utils::TMatchingPair(
                                                                        best_pair_ij.first,
                                                                        best_pair_ij.second,
                                                                        p1_i_localx, p1_i_localy,0,  // MAP1
                                                                        p2_j_localx, p2_j_localy,0 // MAP2
                                                                        ) );

                                                                keep_incorporating = true;
                                                        }
                                                }

                                        } while (keep_incorporating);

                                        // Consider this pairing?
                                        const size_t ninliers = tentativeSubSet.size();
                                        if (ninliers > minInliersTOaccept)
                                        {
                                                CPosePDFSOG::TGaussianMode      newGauss;
                                                newGauss.log_w = 0; // log(1);  // std::log(static_cast<double>(nCoincidences));
                                                newGauss.mean = temptPose.mean;
                                                newGauss.cov = temptPose.cov;

                                                sog_modes[ tentativeSubSet ] = newGauss;

                                                //cout << "ITER: " << iter << " #inliers: " << ninliers << " q: " << temptPose.mean << endl;
                                        }

                                        // Keep the largest consensus & dynamic # of steps:
                                        if (largestConsensusCorrs.size()<ninliers )
                                        {
                                                largestConsensusCorrs = tentativeSubSet;

                                                // Update estimate of N, the number of trials to ensure we pick,
                                                // with probability p, a data set with no outliers.
                                                const double fracinliers =  ninliers/static_cast<double>(std::min(nLM1,nLM2));
                                                double pNoOutliers = 1 -  pow(fracinliers,static_cast<double>(2.0 )); // minimumSizeSamplesToFit

                                                pNoOutliers = std::max( std::numeric_limits<double>::epsilon(), pNoOutliers);  // Avoid division by -Inf
                                                pNoOutliers = std::min(1.0 - std::numeric_limits<double>::epsilon() , pNoOutliers); // Avoid division by 0.
                                                // Number of
                                                ransac_nSimulations = log(1-probability_find_good_model)/log(pNoOutliers);

                                                if (ransac_nSimulations<ransac_min_nSimulations)
                                                        ransac_nSimulations = ransac_min_nSimulations;

                                                //if (verbose)
                                                //      cout << "[Align] Iter #" << iter << " Est. #iters: " << ransac_nSimulations << "  pNoOutliers=" << pNoOutliers << " #inliers: " << ninliers << endl;

                                        }

                                } // end of RANSAC loop

                                // Move SOG modes into pdf_SOG:
                                pdf_SOG->clear();
                                for (TMapMatchingsToPoseMode::const_iterator s=sog_modes.begin();s!=sog_modes.end();++s)
                                {
                                        cout << "SOG mode: " << s->second.mean << " inliers: " << s->first.size() << endl;
                                        pdf_SOG->push_back(s->second);
                                }

                                // Normalize:
                                if (pdf_SOG->size()>0)
                                        pdf_SOG->normalizeWeights();

                                // Simplify the SOG by merging close modes:
                                // -------------------------------------------------
                                size_t nB = pdf_SOG->size();
                                outInfo.sog1 = pdf_SOG;

                                CTicTac merge_clock;
                                pdf_SOG->mergeModes( options.maxKLd_for_merge,false);
                                const double merge_clock_tim = merge_clock.Tac();

                                outInfo.sog2 = pdf_SOG;
                                size_t nA = pdf_SOG->size();
                                MRPT_LOG_INFO(mrpt::format("[CGridMapAligner] amModifiedRANSAC: %u SOG modes merged to %u in %.03fsec\n", (unsigned int)nB, (unsigned int)nA, merge_clock_tim ) );

                        } // end of amModifiedRANSAC


                        // Save best corrs:
                        if (options.debug_save_map_pairs)
                        {
                                static unsigned int NN = 0;
                                static const COccupancyGridMap2D        *lastM1 = NULL;
                                if (lastM1!=m1) {
                                        lastM1=m1; NN=0;
                                }
                                printf("   Largest consensus: %u\n", static_cast<unsigned>(largestConsensusCorrs.size()) );
                                CEnhancedMetaFile::LINUX_IMG_WIDTH = m1->getSizeX() + m2->getSizeX() + 50;
                                CEnhancedMetaFile::LINUX_IMG_HEIGHT = max(m1->getSizeY(), m2->getSizeY()) + 50;

                                for (TMapMatchingsToPoseMode::const_iterator s=sog_modes.begin();s!=sog_modes.end();++s)
                                {
                                        COccupancyGridMap2D::saveAsEMFTwoMapsWithCorrespondences(
                                                format( "__debug_corrsGrid_%05u.emf",NN),
                                                m1, m2, s->first );
                                        COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences(
                                                format( "__debug_corrsGrid_%05u.png",NN),
                                                m1, m2, s->first );
                                        ++NN;
                                }
                        }

                        // --------------------------------------------------------------------
                        // At this point:
                        //   - "pdf_SOG": has the resulting PDF with the SOG (from whatever method)
                        //   - "largestConsensusCorrs": The 'best' set of correspondences
                        //
                        //  Now: If we had a multi-metric map, use the points map to improve
                        //        the estimation with ICP.
                        // --------------------------------------------------------------------
                        if (multimap1 && multimap2 &&
                                !multimap1->m_pointsMaps.empty() && !multimap2->m_pointsMaps.empty() &&
                                multimap1->m_pointsMaps[0].present() && multimap2->m_pointsMaps[0].present() )
                        {
                                CSimplePointsMapPtr             pnts1 = multimap1->m_pointsMaps[0];
                                CSimplePointsMapPtr             pnts2 = multimap2->m_pointsMaps[0];

                                CICP                            icp;
                                CICP::TReturnInfo       icpInfo;

                                icp.options.maxIterations                       = 20;
                                icp.options.smallestThresholdDist       = 0.05f;
                                icp.options.thresholdDist                       = 0.75f;

                                //cout << "Points: " << pnts1->size() << " " << pnts2->size() << endl;

                                // Invoke ICP once for each mode in the SOG:
                                size_t cnt = 0;
                                outInfo.icp_goodness_all_sog_modes.clear();
                                for (CPosePDFSOG::iterator i=pdf_SOG->begin();i!=pdf_SOG->end(); ++cnt)
                                {
                                        CPosePDFPtr icp_est = icp.Align(pnts1.pointer(),pnts2.pointer(),(i)->mean,NULL,&icpInfo);

                                        //(i)->cov(0,0) += square( 0.05 );
                                        //(i)->cov(1,1) += square( 0.05 );
                                        //(i)->cov(2,2) += square( DEG2RAD(0.05) );

                                        CPosePDFGaussian i_gauss(i->mean, i->cov);
                                        CPosePDFGaussian icp_gauss(icp_est->getMeanVal(), i->cov);

                                        const double icp_maha_dist = i_gauss.mahalanobisDistanceTo(icp_gauss);

                                        cout << "ICP " << cnt << " log-w: " << i->log_w << " Goodness: " << 100*icpInfo.goodness << "  D_M= " << icp_maha_dist << endl;
                                        cout << "  final pos: " << icp_est->getMeanVal() << endl;
                                        cout << "    org pos: " << i->mean << endl;

                                        outInfo.icp_goodness_all_sog_modes.push_back(icpInfo.goodness);

                                        // Discard?
                                        if (icpInfo.goodness > options.min_ICP_goodness  &&
                                                icp_maha_dist < options.max_ICP_mahadist
                                          )
                                        {
                                                icp_est->getMean((i)->mean);
                                                ++i;
                                        }
                                        else {
                                                // Delete:
                                                i = pdf_SOG->erase(i);
                                        }

                                } // end for i

                                // Merge:
                                outInfo.sog3 = pdf_SOG;

                                pdf_SOG->mergeModes( options.maxKLd_for_merge, false );
                                MRPT_LOG_DEBUG_STREAM( "[CGridMapAligner] " << pdf_SOG->size() << " SOG modes merged after ICP.");

                        } // end multimapX


                } // end of, yes, we have enough correspondences

        } // end of: yes, there are landmarks in the grid maps!

        // Copy the output info if requested:
        // -------------------------------------------------
        MRPT_TODO("Refactor `info` so it is polymorphic and can use dynamic_cast<> here");
        if (info)
        {
                TReturnInfo* info_ = static_cast<TReturnInfo*>(info);
                *info_ = outInfo;
        }

        if (runningTime)
        {
                *runningTime = tictac->Tac();
                delete tictac;
        }

        return pdf_SOG;

        MRPT_END
}

/*---------------------------------------------------------------
                                        AlignPDF_correlation
---------------------------------------------------------------*/
CPosePDFPtr CGridMapAligner::AlignPDF_correlation(
    const mrpt::maps::CMetricMap                *mm1,
    const mrpt::maps::CMetricMap                *mm2,
    const CPosePDFGaussian      &initialEstimationPDF,
    float                                       *runningTime,
    void                                        *info )
{
        MRPT_UNUSED_PARAM(initialEstimationPDF);        MRPT_UNUSED_PARAM(info);

        MRPT_START

//#define       CORRELATION_SHOW_DEBUG

        CTicTac                                         *tictac = NULL;

        // Asserts:
        // -----------------
        ASSERT_(mm1->GetRuntimeClass() == CLASS_ID(COccupancyGridMap2D));
        ASSERT_(mm2->GetRuntimeClass() == CLASS_ID(COccupancyGridMap2D));
        const COccupancyGridMap2D       *m1 = static_cast<const COccupancyGridMap2D*>( mm1 );
        const COccupancyGridMap2D       *m2 = static_cast<const COccupancyGridMap2D*>( mm2 );

        ASSERT_( m1->getResolution() == m2->getResolution() );

        if (runningTime)
        {
                tictac = new CTicTac();
                tictac->Tic();
        }

        // The PDF to estimate:
        // ------------------------------------------------------
        CPosePDFGaussianPtr PDF = CPosePDFGaussian::Create();

        // Determine the extension to compute the correlation into:
        // ----------------------------------------------------------
        float           phiResolution = DEG2RAD( 0.2f );
        float           phiMin = -M_PIf+0.5f*phiResolution;
        float           phiMax = M_PIf;

        // Compute the difference between maps for each (u,v) pair!
        // --------------------------------------------------------------
        float                                   phi;
        float                                   pivotPt_x = 0.5f*(m1->getXMax()+m1->getXMin());
        float                                   pivotPt_y = 0.5f*(m1->getYMax()+m1->getYMin());
        COccupancyGridMap2D             map2_mod;
        CImage                          map1_img,map2_img;
        float                                   currentMaxCorr = -1e6f;

        m1->getAsImage(map1_img);

        map2_mod.setSize( m1->getXMin(),m1->getXMax(),m1->getYMin(),m1->getYMax(),m1->getResolution() );
        size_t                                  map2_lx = map2_mod.getSizeX();
        size_t                                  map2_ly = map2_mod.getSizeY();
        CMatrix                                 outCrossCorr,bestCrossCorr;
        float                                   map2width_2 = 0.5f*(map2_mod.getXMax()-map2_mod.getXMin());

#ifdef CORRELATION_SHOW_DEBUG
        CDisplayWindow                  *win  = new CDisplayWindow("corr");
        CDisplayWindow                  *win2 = new CDisplayWindow("map2_mod");
#endif

        // --------------------------------------------------------
        // Use FFT-based correlation for each orientation:
        // --------------------------------------------------------
        for (phi=phiMin;phi<phiMax;phi+=phiResolution)
        {
                // Create the displaced map2 grid, for the size of map1:
                // --------------------------------------------------------
                CPose2D         v2(
                        pivotPt_x - cos(phi)*map2width_2,
                        pivotPt_y - sin(phi)*map2width_2,
                        phi);           // Rotation point: the centre of img1:
                CPoint2D        v1,v3;
                v2 = CPose2D(0,0,0) - v2;       // Inverse

                for (unsigned int cy2=0;cy2<map2_ly;cy2++)
                {
                        COccupancyGridMap2D::cellType   *row = map2_mod.getRow(cy2);
                        for (unsigned int cx2=0;cx2<map2_lx;cx2++)
                        {
                                v3 = v2 + CPoint2D( map2_mod.idx2x(cx2), map2_mod.idx2y(cy2) );
                                *row++ = m2->p2l( m2->getPos( v3.x(),v3.y() ) );
                        }
                }

                map2_mod.getAsImage( map2_img );
//              map2_img.saveToBMP("__debug_map2mod.bmp");

                // Compute the correlation:
                map1_img.cross_correlation_FFT(
                        map2_img,
                        outCrossCorr,
                        -1,-1,-1,-1,
                        127,                    // Bias to be substracted
                        127                             // Bias to be substracted
                        );

                float   corrPeak = outCrossCorr.maxCoeff();
                printf("phi = %fdeg \tmax corr=%f\n", RAD2DEG(phi), corrPeak );

                // Keep the maximum:
                if (corrPeak>currentMaxCorr)
                {
                        currentMaxCorr = corrPeak;
                        bestCrossCorr = outCrossCorr;
                        PDF->mean.phi(phi);
                }

#ifdef CORRELATION_SHOW_DEBUG
                        outCrossCorr.adjustRange(0,1);
                        CImage  aux( outCrossCorr, true );
                        win->showImage(aux);
                        win2->showImage(map2_img);
                        mrpt::system::sleep(5);
#endif

        } // end for phi

        if (runningTime)
        {
                *runningTime = tictac->Tac();
                delete tictac;
        }

        bestCrossCorr.normalize(0,1);
        CImage aux( bestCrossCorr, true );
        aux.saveToFile("_debug_best_corr.png");

#ifdef CORRELATION_SHOW_DEBUG
        delete win;
        delete win2;
#endif

        // Transform the best corr matrix peak into coordinates:
        CMatrix::Index  uMax,vMax;
        currentMaxCorr = bestCrossCorr.maxCoeff(&uMax,&vMax);

        PDF->mean.x( m1->idx2x( uMax ) );
        PDF->mean.y( m1->idx2y( vMax ) );

        return PDF;

        // Done!
        MRPT_END
}


/*---------------------------------------------------------------
                                        TConfigParams
  ---------------------------------------------------------------*/
CGridMapAligner::TConfigParams::TConfigParams() :
        methodSelection                 ( CGridMapAligner::amModifiedRANSAC ),

        feature_descriptor              ( descPolarImages ),
        feature_detector_options(),

        ransac_minSetSizeRatio  ( 0.20f ),
        ransac_SOG_sigma_m              ( 0.10f ),
        ransac_mahalanobisDistanceThreshold     ( 6.0f ),
        ransac_chi2_quantile    ( 0.99 ),
        ransac_prob_good_inliers( 0.9999 ),
        featsPerSquareMeter             ( 0.015f ),
        threshold_max                   ( 0.15f ),
        threshold_delta                 ( 0.10f ),
        min_ICP_goodness                ( 0.30f ),
        max_ICP_mahadist                ( 10.0 ),
        maxKLd_for_merge                ( 0.9 ),

        save_feat_coors                 ( false ),
        debug_show_corrs                ( false ),
        debug_save_map_pairs    ( false )
{
}

/*---------------------------------------------------------------
                                        dumpToTextStream
  ---------------------------------------------------------------*/
void  CGridMapAligner::TConfigParams::dumpToTextStream(mrpt::utils::CStream     &out) const
{
        out.printf("\n----------- [CGridMapAligner::TConfigParams] ------------ \n\n");

        LOADABLEOPTS_DUMP_VAR(methodSelection, int)
        LOADABLEOPTS_DUMP_VAR(featsPerSquareMeter, float)
        LOADABLEOPTS_DUMP_VAR(threshold_max, float)
        LOADABLEOPTS_DUMP_VAR(threshold_delta, float)
        LOADABLEOPTS_DUMP_VAR(min_ICP_goodness, float)
        LOADABLEOPTS_DUMP_VAR(max_ICP_mahadist, double)
        LOADABLEOPTS_DUMP_VAR(maxKLd_for_merge,float)
        LOADABLEOPTS_DUMP_VAR(ransac_minSetSizeRatio,float)
        LOADABLEOPTS_DUMP_VAR(ransac_mahalanobisDistanceThreshold,float)
        LOADABLEOPTS_DUMP_VAR(ransac_chi2_quantile,double)
        LOADABLEOPTS_DUMP_VAR(ransac_prob_good_inliers,double)
        LOADABLEOPTS_DUMP_VAR(ransac_SOG_sigma_m,float)
        LOADABLEOPTS_DUMP_VAR(save_feat_coors,bool)
        LOADABLEOPTS_DUMP_VAR(debug_show_corrs, bool)
        LOADABLEOPTS_DUMP_VAR(debug_save_map_pairs, bool)

        LOADABLEOPTS_DUMP_VAR(feature_descriptor, int)

        feature_detector_options.dumpToTextStream(out);

        out.printf("\n");
}

/*---------------------------------------------------------------
                                        loadFromConfigFile
  ---------------------------------------------------------------*/
void  CGridMapAligner::TConfigParams::loadFromConfigFile(
        const mrpt::utils::CConfigFileBase  &iniFile,
        const std::string &section)
{
        MRPT_LOAD_CONFIG_VAR_CAST(methodSelection, int, TAlignerMethod,         iniFile, section)

        MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(featsPerSquareMeter, float , iniFile, section )
        MRPT_LOAD_CONFIG_VAR(ransac_SOG_sigma_m, float , iniFile, section )

        MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(threshold_max, float , iniFile, section )
        MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(threshold_delta, float , iniFile, section )

        MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(min_ICP_goodness, float,   iniFile, section)
        MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(max_ICP_mahadist, double,   iniFile, section)

        MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(maxKLd_for_merge, float,   iniFile, section)
        MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(ransac_minSetSizeRatio, float,   iniFile, section)
        MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(ransac_mahalanobisDistanceThreshold, float,   iniFile, section)
        MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(ransac_chi2_quantile, double,   iniFile, section)
        MRPT_LOAD_CONFIG_VAR_NO_DEFAULT(ransac_prob_good_inliers, double,   iniFile, section)

        MRPT_LOAD_CONFIG_VAR(save_feat_coors, bool,   iniFile,section )
        MRPT_LOAD_CONFIG_VAR(debug_show_corrs, bool,   iniFile,section )
        MRPT_LOAD_CONFIG_VAR(debug_save_map_pairs, bool,   iniFile,section )

        MRPT_LOAD_CONFIG_VAR_CAST_NO_DEFAULT(feature_descriptor,int, TDescriptorType,  iniFile, section)
        feature_detector_options.loadFromConfigFile(iniFile,section);
}


CPose3DPDFPtr CGridMapAligner::Align3DPDF(
        const mrpt::maps::CMetricMap            *m1,
        const mrpt::maps::CMetricMap            *m2,
        const CPose3DPDFGaussian        &initialEstimationPDF,
        float                                   *runningTime,
        void                                    *info )
{
        MRPT_UNUSED_PARAM(m1); MRPT_UNUSED_PARAM(m2); MRPT_UNUSED_PARAM(initialEstimationPDF);
        MRPT_UNUSED_PARAM(runningTime); MRPT_UNUSED_PARAM(info);
        THROW_EXCEPTION("Align3D method not applicable to gridmap-aligner");
}