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 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 39 of file CGridMapAligner.h.

#include <mrpt/slam/CGridMapAligner.h>

Inheritance diagram for mrpt::slam::CGridMapAligner:

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::CPosePDFPtr	AlignPDF (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)
	The method for aligning a pair of 2D points map. More...
mrpt::poses::CPose3DPDFPtr	Align3DPDF (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3DPDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)
	Not applicable in this class, will launch an exception. More...
mrpt::poses::CPosePDFPtr	Align (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose2D &grossEst, float *runningTime=NULL, void *info=NULL)
	The method for aligning a pair of metric maps, aligning only 2D + orientation. More...
mrpt::poses::CPose3DPDFPtr	Align3D (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3D &grossEst, float *runningTime=NULL, void *info=NULL)
	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::CPosePDFPtr	AlignPDF_correlation (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)
	Private member, implements one the algorithms. More...
mrpt::poses::CPosePDFPtr	AlignPDF_robustMatch (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)
	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

enum mrpt::slam::CGridMapAligner::TAlignerMethod

The type for selecting the grid-map alignment algorithm.

Enumerator
amRobustMatch
amCorrelation
amModifiedRANSAC

Definition at line 69 of file CGridMapAligner.h.

Constructor & Destructor Documentation

CGridMapAligner()

mrpt::slam::CGridMapAligner::CGridMapAligner ( )

inline

Definition at line 63 of file CGridMapAligner.h.

Member Function Documentation

Align()

CPosePDFPtr CMetricMapsAlignmentAlgorithm::Align ( const mrpt::maps::CMetricMap *  m1, const mrpt::maps::CMetricMap *  m2, const mrpt::poses::CPose2D &  grossEst, float *  runningTime = NULL, void *  info = NULL  )

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 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

Definition at line 26 of file CMetricMapsAlignmentAlgorithm.cpp.

References info.

Referenced by ICPTests::align2scans(), AlignPDF_robustMatch(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

Align3D()

CPose3DPDFPtr CMetricMapsAlignmentAlgorithm::Align3D ( const mrpt::maps::CMetricMap *  m1, const mrpt::maps::CMetricMap *  m2, const mrpt::poses::CPose3D &  grossEst, float *  runningTime = NULL, void *  info = NULL  )

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 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

Definition at line 40 of file CMetricMapsAlignmentAlgorithm.cpp.

References info, and mrpt::poses::CPose3DPDFGaussian::mean.

Referenced by TEST_F().

Align3DPDF()

CPose3DPDFPtr CGridMapAligner::Align3DPDF ( const mrpt::maps::CMetricMap *  m1, const mrpt::maps::CMetricMap *  m2, const mrpt::poses::CPose3DPDFGaussian &  initialEstimationPDF, float *  runningTime = NULL, void *  info = NULL  )

virtual

Not applicable in this class, will launch an exception.

Implements mrpt::slam::CMetricMapsAlignmentAlgorithm.

Definition at line 1125 of file CGridMapAligner.cpp.

References info, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

AlignPDF()

CPosePDFPtr CGridMapAligner::AlignPDF ( const mrpt::maps::CMetricMap *  m1, const mrpt::maps::CMetricMap *  m2, const mrpt::poses::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::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 55 of file CGridMapAligner.cpp.

References info, MRPT_END, MRPT_START, and THROW_EXCEPTION.

AlignPDF_correlation()

CPosePDFPtr CGridMapAligner::AlignPDF_correlation ( const mrpt::maps::CMetricMap *  m1, const mrpt::maps::CMetricMap *  m2, const mrpt::poses::CPosePDFGaussian &  initialEstimationPDF, float *  runningTime = NULL, void *  info = NULL  )

private

Private member, implements one the algorithms.

Definition at line 887 of file CGridMapAligner.cpp.

References ASSERT_, CLASS_ID, mrpt::poses::CPosePDFGaussian::Create(), 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(), info, M_PIf, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::maps::COccupancyGridMap2D::p2l(), RAD2DEG, mrpt::utils::CImage::saveToFile(), mrpt::maps::COccupancyGridMap2D::setSize(), and mrpt::system::sleep().

AlignPDF_robustMatch()

CPosePDFPtr CGridMapAligner::AlignPDF_robustMatch ( const mrpt::maps::CMetricMap *  m1, const mrpt::maps::CMetricMap *  m2, const mrpt::poses::CPosePDFGaussian &  initialEstimationPDF, float *  runningTime = NULL, void *  info = NULL  )

private

Private member, implements both, the "robustMatch" and the newer "modifiedRANSAC" algorithms.

Definition at line 90 of file CGridMapAligner.cpp.

References mrpt::slam::CMetricMapsAlignmentAlgorithm::Align(), ASSERT_, mrpt::math::chi2inv(), mrpt::poses::CPoint2DPDFGaussian::cov, mrpt::poses::CPosePDFGaussian::cov, mrpt::poses::CPosePDFSOG::TGaussianMode::cov, mrpt::poses::CPosePDFSOG::Create(), 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::maps::COccupancyGridMap2D::getResolution(), mrpt::maps::COccupancyGridMap2D::getSizeX(), mrpt::maps::COccupancyGridMap2D::getSizeY(), mrpt::utils::CImage::getWidth(), mrpt::slam::CICP::TReturnInfo::goodness, info, 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::CPosePDFGaussian::mean, mrpt::poses::CPosePDFSOG::TGaussianMode::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::random::randomGenerator, 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

COccupancyGridMapFeatureExtractor mrpt::slam::CGridMapAligner::m_grid_feat_extr

private

Grid map features extractor.

Definition at line 60 of file CGridMapAligner.h.

options

mrpt::slam::CGridMapAligner::TConfigParams mrpt::slam::CGridMapAligner::options

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().