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mrpt::pbmap::ConsistencyTest Class Reference

Detailed Description

This class computes the rigid transformation between two sets of matched planes, and provides a measure of their rigid adjustment

Definition at line 35 of file ConsistencyTest.h.

#include <mrpt/pbmap/ConsistencyTest.h>

Public Member Functions

 ConsistencyTest (PbMap &PBM_source, PbMap &PBM_target)
 
double calcAlignmentError (std::map< unsigned, unsigned > &matched_planes, Eigen::Matrix4f &rigidTransf)
 ! Get diamond of points around the center. More...
 
Eigen::Matrix4f initPose (std::map< unsigned, unsigned > &matched_planes)
 
Eigen::Matrix4f estimatePose (std::map< unsigned, unsigned > &matched_planes)
 
bool estimatePoseWithCovariance (std::map< unsigned, unsigned > &matched_planes, Eigen::Matrix4f &rigidTransf, Eigen::Matrix< float, 6, 6 > &covarianceM)
 
Eigen::Matrix4f initPose2D (std::map< unsigned, unsigned > &matched_planes)
 
Eigen::Matrix4f getRTwithModel (std::map< unsigned, unsigned > &matched_planes)
 
Eigen::Matrix4f estimatePoseRANSAC (std::map< unsigned, unsigned > &matched_planes)
 

Private Attributes

PbMapPBMSource
 
PbMapPBMTarget
 
std::map< unsigned, unsigned > matched_planes
 

Constructor & Destructor Documentation

◆ ConsistencyTest()

ConsistencyTest::ConsistencyTest ( PbMap PBM_source,
PbMap PBM_target 
)

Constructor

Definition at line 32 of file ConsistencyTest.cpp.

Member Function Documentation

◆ calcAlignmentError()

double ConsistencyTest::calcAlignmentError ( std::map< unsigned, unsigned > &  matched_planes,
Eigen::Matrix4f &  rigidTransf 
)

! Get diamond of points around the center.

This is used to calculate the adjustment error with a model plane
Calculate the alignment error between two sets of matched planes. The input rigid transformation "se3rigidTransfInv" is used to project the centroids of one set of planes into their matched planes and returns the sum of cuadratic distances

Definition at line 37 of file ConsistencyTest.cpp.

References mrpt::pbmap::compose(), matched_planes, PBMSource, PBMTarget, and mrpt::pbmap::PbMap::vPlanes.

Referenced by getRTwithModel().

◆ estimatePose()

Eigen::Matrix4f ConsistencyTest::estimatePose ( std::map< unsigned, unsigned > &  matched_planes)

float trans_error = fabs(-PBMTarget.vPlanes[it->second].d + translation.dot(PBMTarget.vPlanes[it->second].v3normal) + PBMSource.vPlanes[it->first].d);

Definition at line 190 of file ConsistencyTest.cpp.

References det(), matched_planes, PBMSource, PBMTarget, and mrpt::pbmap::PbMap::vPlanes.

◆ estimatePoseRANSAC()

Eigen::Matrix4f ConsistencyTest::estimatePoseRANSAC ( std::map< unsigned, unsigned > &  matched_planes)

◆ estimatePoseWithCovariance()

bool ConsistencyTest::estimatePoseWithCovariance ( std::map< unsigned, unsigned > &  matched_planes,
Eigen::Matrix4f &  rigidTransf,
Eigen::Matrix< float, 6, 6 > &  covarianceM 
)

◆ getRTwithModel()

Eigen::Matrix4f ConsistencyTest::getRTwithModel ( std::map< unsigned, unsigned > &  matched_planes)

Return the estimated rigid transformation which aligns two matched subgraphs (i.e. neighborhoods of planes). This function iteratively minimizes the alignment error of the matched planes wrt the rigid transformation.

Definition at line 483 of file ConsistencyTest.cpp.

References calcAlignmentError(), mrpt::pbmap::compose(), mrpt::poses::CPose3D::exp(), mrpt::poses::CPose3D::getHomogeneousMatrix(), initPose(), matched_planes, PBMSource, PBMTarget, and mrpt::pbmap::PbMap::vPlanes.

Referenced by mrpt::pbmap::PbMapLocaliser::searchPlaneContext().

◆ initPose()

Eigen::Matrix4f ConsistencyTest::initPose ( std::map< unsigned, unsigned > &  matched_planes)

Return an initial guess for the rigid transformation which aligns two matched places. The translation is calculated from the planes centroids and the rotation from the alignment of the plane's normals.

float trans_error = fabs(-PBMTarget.vPlanes[it->second].d + translation.dot(PBMTarget.vPlanes[it->second].v3normal) + PBMSource.vPlanes[it->first].d);

Definition at line 62 of file ConsistencyTest.cpp.

References det(), matched_planes, PBMSource, PBMTarget, and mrpt::pbmap::PbMap::vPlanes.

Referenced by getRTwithModel().

◆ initPose2D()

Eigen::Matrix4f ConsistencyTest::initPose2D ( std::map< unsigned, unsigned > &  matched_planes)

Return an initial guess for the rigid transformation which aligns two matched places. The translation is calculated from the planes centroids and the rotation from the alignment of the plane's normals. A planar movement is assumed (wheeled robot)

Definition at line 419 of file ConsistencyTest.cpp.

References matched_planes, PBMSource, PBMTarget, and mrpt::pbmap::PbMap::vPlanes.

Member Data Documentation

◆ matched_planes

std::map<unsigned, unsigned> mrpt::pbmap::ConsistencyTest::matched_planes
private

List of pairs of matched planes from the PbMaps PBMSource with those from PBMTarget

Definition at line 94 of file ConsistencyTest.h.

Referenced by calcAlignmentError(), estimatePose(), estimatePoseRANSAC(), estimatePoseWithCovariance(), getRTwithModel(), initPose(), and initPose2D().

◆ PBMSource

PbMap& mrpt::pbmap::ConsistencyTest::PBMSource
private

◆ PBMTarget

PbMap& mrpt::pbmap::ConsistencyTest::PBMTarget
private



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