Detailed Description

A base class for any algorithm able of maps alignment.

There are two methods depending on an PDF or a single 2D Pose value is available as initial guess for the methods.

See also: CPointsMap,

Definition at line 29 of file CMetricMapsAlignmentAlgorithm.h.

#include <mrpt/slam/CMetricMapsAlignmentAlgorithm.h>

Inheritance diagram for mrpt::slam::CMetricMapsAlignmentAlgorithm:

Public Member Functions
	CMetricMapsAlignmentAlgorithm ()

virtual	~CMetricMapsAlignmentAlgorithm ()
	Dtor. 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...

virtual 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)=0
	The virtual method for aligning a pair of metric maps, aligning only 2D. 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...

virtual 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)=0
	The virtual method for aligning a pair of metric maps, aligning the full 6D pose. More...

Constructor & Destructor Documentation

◆ CMetricMapsAlignmentAlgorithm()

mrpt::slam::CMetricMapsAlignmentAlgorithm::CMetricMapsAlignmentAlgorithm ( )

inline

Definition at line 32 of file CMetricMapsAlignmentAlgorithm.h.

◆ ~CMetricMapsAlignmentAlgorithm()

virtual mrpt::slam::CMetricMapsAlignmentAlgorithm::~CMetricMapsAlignmentAlgorithm ( )

inlinevirtual

Dtor.

Definition at line 37 of file CMetricMapsAlignmentAlgorithm.h.

Member Function Documentation

◆ Align()

CPosePDF::Ptr CMetricMapsAlignmentAlgorithm::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.

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(), mrpt::slam::CGridMapAligner::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().

Here is the caller graph for this function:

◆ Align3D()

CPose3DPDF::Ptr CMetricMapsAlignmentAlgorithm::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.

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().

Here is the caller graph for this function:

◆ Align3DPDF()

virtual mrpt::poses::CPose3DPDF::Ptr mrpt::slam::CMetricMapsAlignmentAlgorithm::Align3DPDF	(	const mrpt::maps::CMetricMap *	m1,
		const mrpt::maps::CMetricMap *	m2,
		const mrpt::poses::CPose3DPDFGaussian &	initialEstimationPDF,
		float *	runningTime = `nullptr`,
		void *	info = `nullptr`
	)

pure 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 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

Implemented in mrpt::slam::CICP, and mrpt::slam::CGridMapAligner.

◆ AlignPDF()

virtual mrpt::poses::CPosePDF::Ptr mrpt::slam::CMetricMapsAlignmentAlgorithm::AlignPDF	(	const mrpt::maps::CMetricMap *	m1,
		const mrpt::maps::CMetricMap *	m2,
		const mrpt::poses::CPosePDFGaussian &	initialEstimationPDF,
		float *	runningTime = `nullptr`,
		void *	info = `nullptr`
	)

pure virtual

The virtual method for aligning a pair of metric maps, aligning only 2D.

orientation. 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 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

Implemented in mrpt::slam::CICP, and mrpt::slam::CGridMapAligner.

Detailed Description

Public Member Functions

Constructor & Destructor Documentation

◆ CMetricMapsAlignmentAlgorithm()

◆ ~CMetricMapsAlignmentAlgorithm()

Member Function Documentation

◆ Align()

◆ Align3D()

◆ Align3DPDF()

◆ AlignPDF()