class mrpt::slam::CMetricMapBuilderICP

A class for very simple 2D SLAM based on ICP.

This is a non-probabilistic pose tracking algorithm. Map are stored as in files as binary dumps of “mrpt::maps::CSimpleMap” objects. The methods are thread-safe.

#include <mrpt/slam/CMetricMapBuilderICP.h>

class CMetricMapBuilderICP: public mrpt::slam::CMetricMapBuilder
{
public:
    // structs

    struct TConfigParams;
    struct TDist;

    //
fields

    TConfigParams ICP_options;
    CICP::TConfigParams ICP_params;

    // construction

    CMetricMapBuilderICP();

    //
methods

    virtual void initialize(const mrpt::maps::CSimpleMap& initialMap = mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF* x0 = nullptr);
    virtual mrpt::poses::CPose3DPDF::Ptr getCurrentPoseEstimation() const;
    void setCurrentMapFile(const char* mapFile);
    virtual void processActionObservation(mrpt::obs::CActionCollection& action, mrpt::obs::CSensoryFrame& in_SF);
    void processObservation(const mrpt::obs::CObservation::Ptr& obs);
    virtual void getCurrentlyBuiltMap(mrpt::maps::CSimpleMap& out_map) const;
    void getCurrentMapPoints(std::vector<float>& x, std::vector<float>& y);
    virtual const mrpt::maps::CMultiMetricMap* getCurrentlyBuiltMetricMap() const;
    virtual unsigned int getCurrentlyBuiltMapSize();
    virtual void saveCurrentEstimationToImage(const std::string& file, bool formatEMF_BMP = true);
};

Inherited Members

public:
    // structs

    struct TMsg;
    struct TOptions;

    //
methods

    virtual void initialize(const mrpt::maps::CSimpleMap& initialMap = mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF* x0 = nullptr) = 0;
    virtual mrpt::poses::CPose3DPDF::Ptr getCurrentPoseEstimation() const = 0;
    virtual void processActionObservation(mrpt::obs::CActionCollection& action, mrpt::obs::CSensoryFrame& observations) = 0;
    virtual void getCurrentlyBuiltMap(mrpt::maps::CSimpleMap& out_map) const = 0;
    virtual unsigned int getCurrentlyBuiltMapSize() = 0;
    virtual const mrpt::maps::CMultiMetricMap* getCurrentlyBuiltMetricMap() const = 0;
    virtual void saveCurrentEstimationToImage(const std::string& file, bool formatEMF_BMP = true) = 0;
    void clear();
    void enableMapUpdating(bool enable);
    void loadCurrentMapFromFile(const std::string& fileName);
    void saveCurrentMapToFile(const std::string& fileName, bool compressGZ = true) const;

Fields

TConfigParams ICP_options

Options for the ICP-SLAM application.

See also:

ICP_params

CICP::TConfigParams ICP_params

Options for the ICP algorithm itself.

See also:

ICP_options

Construction

CMetricMapBuilderICP()

Default constructor - Upon construction, you can set the parameters in ICP_options, then call “initialize”.

Methods

virtual void initialize(const mrpt::maps::CSimpleMap& initialMap = mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF* x0 = nullptr)

Initialize the method, starting with a known location PDF “x0”(if supplied, set to nullptr to left unmodified) and a given fixed, past map.

This method MUST be called if using the default constructor, after loading the configuration into ICP_options. In particular, TConfigParams::mapInitializers

virtual mrpt::poses::CPose3DPDF::Ptr getCurrentPoseEstimation() const

Returns a copy of the current best pose estimation as a pose PDF.

void setCurrentMapFile(const char* mapFile)

Sets the “current map file”, thus that map will be loaded if it exists or a new one will be created if it does not, and the updated map will be save to that file when destroying the object.

virtual void processActionObservation(mrpt::obs::CActionCollection& action, mrpt::obs::CSensoryFrame& in_SF)

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.

Parameters:

action	The estimation of the incremental pose change in the robot pose.
in_SF	The set of observations that robot senses at the new pose. See params in CMetricMapBuilder::options and CMetricMapBuilderICP::ICP_options

See also:

processObservation

void processObservation(const mrpt::obs::CObservation::Ptr& obs)

The main method of this class: Process one odometry or sensor observation.

The new entry point of the algorithm (the old one was processActionObservation, which now is a wrapper to this method). See params in CMetricMapBuilder::options and CMetricMapBuilderICP::ICP_options

virtual void getCurrentlyBuiltMap(mrpt::maps::CSimpleMap& out_map) const

Fills “out_map” with the set of “poses”-“sensory-frames”, thus the so far built map.

void getCurrentMapPoints(std::vector<float>& x, std::vector<float>& y)

Returns the 2D points of current local map.

virtual const mrpt::maps::CMultiMetricMap* getCurrentlyBuiltMetricMap() const

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 “clone()”.

virtual unsigned int getCurrentlyBuiltMapSize()

Returns just how many sensory-frames are stored in the currently build map.

virtual 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.

Parameters:

file	The output file name
formatEMF_BMP	Output format = true:EMF, false:BMP