mrpt::slam::CGridMapAligner Class Reference

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. More...

#include <mrpt/slam/CGridMapAligner.h>

Inheritance diagram for mrpt::slam::CGridMapAligner:

List of all members.

Classes
class	TConfigParams
	The ICP algorithm configuration data. More...
struct	TReturnInfo
	The ICP algorithm return information. More...
Public Types
enum	TAlignerMethod { amRobustMatch = 0, amCorrelation }
	The type for selecting the grid-map alignment algorithm. More...
Public Member Functions
	CGridMapAligner ()
CPosePDFPtr	AlignPDF (const CMetricMap *m1, const CMetricMap *m2, const CPosePDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)
	The method for aligning a pair of 2D points map.
Static Public Member Functions
static void	landmarksMatchingCorrelation (mrpt::slam::CLandmark *lm1, mrpt::slam::CLandmark *lm2, float &minDistance, float &minDistAngle)
	Computes the matching between a pair of "panoramic images" landmarks, by the correlation method.
Public Attributes
mrpt::slam::CGridMapAligner::TConfigParams	options
	The ICP algorithm configuration data.
Private Member Functions
CPosePDFPtr	AlignPDF_correlation (const CMetricMap *m1, const CMetricMap *m2, const CPosePDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)
	Private member, implements one the algorithms.
CPosePDFPtr	AlignPDF_robustMatch (const CMetricMap *m1, const CMetricMap *m2, const CPosePDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)
	Private member, implements one the algorithms.

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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 method was reported in the paper:

See CGridMapAligner::Align for more instructions.

See also:

CMetricMapsAlignmentAlgorithm

Definition at line 54 of file CGridMapAligner.h.

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Member Enumeration Documentation

enum mrpt::slam::CGridMapAligner::TAlignerMethod

The type for selecting the grid-map alignment algorithm.

Enumerator:

amRobustMatch
amCorrelation

Definition at line 83 of file CGridMapAligner.h.

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Constructor & Destructor Documentation

mrpt::slam::CGridMapAligner::CGridMapAligner

(

)

[inline]

Definition at line 77 of file CGridMapAligner.h.

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Member Function Documentation

CPosePDFPtr mrpt::slam::CGridMapAligner::AlignPDF	(	const CMetricMap *	m1,
		const CMetricMap *	m2,
		const 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::slam::CMultiMetricMap class)
	m2	[IN] The second map (Must be a mrpt::slam::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 CAlignerFromMotionDraws::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.

CPosePDFPtr mrpt::slam::CGridMapAligner::AlignPDF_correlation	(	const CMetricMap *	m1,
		const CMetricMap *	m2,
		const CPosePDFGaussian &	initialEstimationPDF,
		float *	runningTime = NULL,
		void *	info = NULL
	)			[private]

Private member, implements one the algorithms.

CPosePDFPtr mrpt::slam::CGridMapAligner::AlignPDF_robustMatch	(	const CMetricMap *	m1,
		const CMetricMap *	m2,
		const CPosePDFGaussian &	initialEstimationPDF,
		float *	runningTime = NULL,
		void *	info = NULL
	)			[private]

Private member, implements one the algorithms.

static void mrpt::slam::CGridMapAligner::landmarksMatchingCorrelation	(	mrpt::slam::CLandmark *	lm1,
		mrpt::slam::CLandmark *	lm2,
		float &	minDistance,
		float &	minDistAngle
	)			[static]

Computes the matching between a pair of "panoramic images" landmarks, by the correlation method.

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Member Data Documentation

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

The ICP algorithm configuration data.