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 class can use three methods (see options.methodSelection):
- amCorrelation: "Brute-force" correlation of the two maps over a 2D+orientation grid of possible 2D poses.
- amRobustMatch: Detection of features + RANSAC matching
- amModifiedRANSAC: Detection of features + modified multi-hypothesis RANSAC matching as described in was reported in the paper http://www.mrpt.org/Paper%3AOccupancy_Grid_Matching
See CGridMapAligner::Align for more instructions.
- See also
- CMetricMapsAlignmentAlgorithm
Definition at line 43 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 () | |
| mrpt::poses::CPosePDF::Ptr | AlignPDF (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, float *runningTime=nullptr, void *info=nullptr) |
| The method for aligning a pair of 2D points map. More... | |
| mrpt::poses::CPose3DPDF::Ptr | Align3DPDF (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3DPDFGaussian &initialEstimationPDF, float *runningTime=nullptr, void *info=nullptr) |
| Not applicable in this class, will launch an exception. More... | |
| mrpt::poses::CPosePDF::Ptr | Align (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose2D &grossEst, float *runningTime=nullptr, void *info=nullptr) |
| The method for aligning a pair of metric maps, aligning only 2D + orientation. More... | |
| mrpt::poses::CPose3DPDF::Ptr | Align3D (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3D &grossEst, float *runningTime=nullptr, void *info=nullptr) |
| The method for aligning a pair of metric maps, aligning the full 6D pose. More... | |
Public Attributes | |
| mrpt::slam::CGridMapAligner::TConfigParams | options |
Private Member Functions | |
| mrpt::poses::CPosePDF::Ptr | AlignPDF_correlation (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, float *runningTime=nullptr, void *info=nullptr) |
| Private member, implements one the algorithms. More... | |
| mrpt::poses::CPosePDF::Ptr | AlignPDF_robustMatch (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, float *runningTime=nullptr, void *info=nullptr) |
| Private member, implements both, the "robustMatch" and the newer "modifiedRANSAC" algorithms. More... | |
Private Attributes | |
| COccupancyGridMapFeatureExtractor | m_grid_feat_extr |
| Grid map features extractor. More... | |
Member Enumeration Documentation
◆ TAlignerMethod
The type for selecting the grid-map alignment algorithm.
| Enumerator | |
|---|---|
| amRobustMatch | |
| amCorrelation | |
| amModifiedRANSAC | |
Definition at line 68 of file CGridMapAligner.h.
Constructor & Destructor Documentation
◆ CGridMapAligner()
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inline |
Definition at line 65 of file CGridMapAligner.h.
Member Function Documentation
◆ Align()
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inherited |
The method for aligning a pair of metric maps, aligning only 2D + orientation.
The meaning of some parameters and the kind of the maps to be aligned are implementation dependant, so look into the 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.
- Parameters
-
m1 [IN] The first map m2 [IN] The second map. The pose of this map respect to m1 is to be estimated. grossEst [IN] An initial gross estimation for the displacement. If a given algorithm doesn't need it, set to CPose2D(0,0,0)for example.runningTime [OUT] A pointer to a container for obtaining the algorithm running time in seconds, or nullptr if you don't need it. info [OUT] See derived classes for details, or nullptr if it isn't needed.
- Returns
- A smart pointer to the output estimated pose PDF.
- See also
- CICP
Definition at line 26 of file CMetricMapsAlignmentAlgorithm.cpp.
Referenced by ICPTests::align2scans(), AlignPDF_robustMatch(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update(), and mrpt::slam::CMetricMapBuilderICP::processObservation().
◆ Align3D()
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inherited |
The method for aligning a pair of metric maps, aligning the full 6D pose.
The meaning of some parameters and the kind of the maps to be aligned are implementation dependant, so look into the 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.
- Parameters
-
m1 [IN] The first map m2 [IN] The second map. The pose of this map respect to m1 is to be estimated. grossEst [IN] An initial gross estimation for the displacement. If a given algorithm doesn't need it, set to CPose3D(0,0,0)for example.runningTime [OUT] A pointer to a container for obtaining the algorithm running time in seconds, or nullptr if you don't need it. info [OUT] See derived classes for details, or nullptr if it isn't needed.
- Returns
- A smart pointer to the output estimated pose PDF.
- See also
- CICP
Definition at line 37 of file CMetricMapsAlignmentAlgorithm.cpp.
References mrpt::poses::CPose3DPDFGaussian::mean.
Referenced by TEST_F().
◆ Align3DPDF()
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virtual |
Not applicable in this class, will launch an exception.
Implements mrpt::slam::CMetricMapsAlignmentAlgorithm.
Definition at line 1278 of file CGridMapAligner.cpp.
References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
◆ AlignPDF()
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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::maps::CMultiMetricMap class) m2 [IN] The second map (Must be a mrpt::maps::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 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.
Definition at line 57 of file CGridMapAligner.cpp.
References MRPT_END, MRPT_START, and THROW_EXCEPTION.
◆ AlignPDF_correlation()
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private |
Private member, implements one the algorithms.
Definition at line 1033 of file CGridMapAligner.cpp.
References ASSERT_, CLASS_ID, mrpt::utils::CImage::cross_correlation_FFT(), DEG2RAD, mrpt::maps::COccupancyGridMap2D::getAsImage(), mrpt::maps::COccupancyGridMap2D::getPos(), mrpt::maps::COccupancyGridMap2D::getResolution(), mrpt::maps::COccupancyGridMap2D::getRow(), mrpt::maps::CMetricMap::GetRuntimeClass(), mrpt::maps::COccupancyGridMap2D::getSizeX(), mrpt::maps::COccupancyGridMap2D::getSizeY(), mrpt::maps::COccupancyGridMap2D::getXMax(), mrpt::maps::COccupancyGridMap2D::getXMin(), mrpt::maps::COccupancyGridMap2D::idx2x(), mrpt::maps::COccupancyGridMap2D::idx2y(), M_PIf, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::maps::COccupancyGridMap2D::p2l(), RAD2DEG, mrpt::utils::CImage::saveToFile(), and mrpt::maps::COccupancyGridMap2D::setSize().
◆ AlignPDF_robustMatch()
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private |
Private member, implements both, the "robustMatch" and the newer "modifiedRANSAC" algorithms.
Definition at line 91 of file CGridMapAligner.cpp.
References mrpt::slam::CMetricMapsAlignmentAlgorithm::Align(), ASSERT_, ASSERTMSG_, mrpt::math::chi2inv(), mrpt::poses::CPoint2DPDFGaussian::cov, mrpt::poses::CPosePDFSOG::TGaussianMode::cov, mrpt::poses::CPosePDFGaussian::cov, mrpt::system::createDirectory(), DEG2RAD, mrpt::system::deleteFilesInDirectory(), mrpt::math::distanceBetweenPoints(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), mrpt::utils::CCanvas::drawImage(), mrpt::random::CRandomGenerator::drawUniform32bit(), mrpt::maps::CMultiMetricMap::ProxyFilterContainerByClass< SELECTED_CLASS_PTR, CONTAINER >::empty(), mrpt::utils::CCanvas::filledRectangle(), mrpt::format(), mrpt::mrpt::format(), mrpt::maps::COccupancyGridMap2D::getArea(), mrpt::utils::CImage::getHeight(), mrpt::maps::CPointsMap::getPoint(), mrpt::random::getRandomGenerator(), mrpt::maps::COccupancyGridMap2D::getResolution(), mrpt::maps::COccupancyGridMap2D::getSizeX(), mrpt::maps::COccupancyGridMap2D::getSizeY(), mrpt::utils::CImage::getWidth(), mrpt::slam::CICP::TReturnInfo::goodness, mrpt::maps::CPointsMap::insertPoint(), IS_CLASS, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeNClosestPoint2DIdx(), mrpt::tfest::TSE2RobustResult::largestSubSet, mrpt::poses::CPosePDFSOG::TGaussianMode::log_w, mrpt::maps::CMultiMetricMap::m_gridMaps, mrpt::maps::CMultiMetricMap::m_pointsMaps, mrpt::poses::CPoint2DPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPosePDFGaussian::mahalanobisDistanceTo(), mrpt::slam::CICP::TConfigParams::maxIterations, mrpt::poses::CPoint2DPDFGaussian::mean, mrpt::poses::CPosePDFSOG::TGaussianMode::mean, mrpt::poses::CPosePDFGaussian::mean, mrpt::math::mean(), min, mrpt::math::minimum(), MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO, MRPT_LOG_INFO_STREAM, MRPT_START, MRPT_TODO, myVectorOrder(), mrpt::slam::CICP::options, mrpt::utils::TMatchingPair::other_idx, mrpt::utils::TMatchingPair::other_x, mrpt::utils::TMatchingPair::other_y, mrpt::utils::TMatchingPair::other_z, mrpt::poses::CPose2D::phi(), mrpt::tfest::TSE2RobustParams::probability_find_good_model, mrpt::poses::CPoint2DPDFGaussian::productIntegralWith(), RAD2DEG, mrpt::tfest::TSE2RobustParams::ransac_algorithmForLandmarks, mrpt::tfest::TSE2RobustParams::ransac_fuseByCorrsMatch, mrpt::tfest::TSE2RobustParams::ransac_fuseMaxDiffPhi, mrpt::tfest::TSE2RobustParams::ransac_fuseMaxDiffXY, mrpt::tfest::TSE2RobustParams::ransac_mahalanobisDistanceThreshold, mrpt::tfest::TSE2RobustParams::ransac_maxSetSize, mrpt::tfest::TSE2RobustParams::ransac_minSetSize, mrpt::tfest::TSE2RobustParams::ransac_nSimulations, mrpt::maps::CSimplePointsMap::reserve(), mrpt::utils::round(), mrpt::utils::CImage::saveToFile(), mrpt::tfest::se2_l2(), mrpt::tfest::se2_l2_robust(), mrpt::maps::CMultiMetricMap::ProxyFilterContainerByClass< SELECTED_CLASS_PTR, CONTAINER >::size(), mrpt::slam::CICP::TConfigParams::smallestThresholdDist, mrpt::math::square(), mrpt::utils::CTicTac::Tac(), mrpt::utils::TMatchingPair::this_idx, mrpt::utils::TMatchingPair::this_x, mrpt::utils::TMatchingPair::this_y, mrpt::utils::TMatchingPair::this_z, mrpt::slam::CICP::TConfigParams::thresholdDist, THROW_EXCEPTION, mrpt::utils::CTicTac::Tic(), mrpt::tfest::TSE2RobustResult::transformation, mrpt::tfest::TSE2RobustParams::verbose, mrpt::math::TPoint2D::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::TPoint2D::y, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
Member Data Documentation
◆ m_grid_feat_extr
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private |
Grid map features extractor.
Definition at line 62 of file CGridMapAligner.h.
◆ options
| mrpt::slam::CGridMapAligner::TConfigParams mrpt::slam::CGridMapAligner::options |