mrpt::slam::CICP Class Reference

Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps. More...

#include <mrpt/slam/CICP.h>

Inheritance diagram for mrpt::slam::CICP:

List of all members.

Classes
class	TConfigParams
	The ICP algorithm configuration data. More...
struct	TReturnInfo
	The ICP algorithm return information. More...
Public Member Functions
	CICP ()
virtual	~CICP ()
	Destructor.
CPosePDFPtr	AlignPDF (const CMetricMap *m1, const CMetricMap *m2, const CPosePDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL)
	An implementation of CMetricMapsAlignmentAlgorithm for the case of a point maps and a occupancy grid/point map.
Public Attributes
mrpt::slam::CICP::TConfigParams	options
	The ICP algorithm configuration data.
Protected Member Functions
float	kernel (const float &x2, const float &rho2)
	Computes: or just return the input if options.useKernel = false.
CPosePDFPtr	ICP_Method_Classic (const CMetricMap *m1, const CMetricMap *m2, const CPosePDFGaussian &initialEstimationPDF, TReturnInfo &outInfo)
	The internal method implementing CICP::AlignPDF when options.ICP_algorithm is icpClassic.
CPosePDFPtr	ICP_Method_LM (const CMetricMap *m1, const CMetricMap *m2, const CPosePDFGaussian &initialEstimationPDF, TReturnInfo &outInfo)
	The internal method implementing CICP::AlignPDF when options.ICP_algorithm is icpLevenbergMarquardt.
CPosePDFPtr	ICP_Method_IKF (const CMetricMap *m1, const CMetricMap *m2, const CPosePDFGaussian &initialEstimationPDF, TReturnInfo &outInfo)
	The internal method implementing CICP::AlignPDF when options.ICP_algorithm is icpIKF.

---

Detailed Description

Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps.

See CICP::AlignPDF for the entry point of the algorithm, and CICP::TConfigParams for all the parameters to the method. The algorithm has been exteneded with multihypotheses-support for the correspondences, which generates a Sum-of-Gaussians (SOG) PDF as output. See scan_matching::robustRigidTransformation.

For further details on the method, check the wiki: http://babel.isa.uma.es/mrpt/index.php/Scan_Matching_Algorithms

See also:

CMetricMapsAlignmentAlgorithm

Definition at line 66 of file CICP.h.

---

Constructor & Destructor Documentation

mrpt::slam::CICP::CICP

(

)

[inline]

Definition at line 69 of file CICP.h.

virtual mrpt::slam::CICP::~CICP

(

)

[inline, virtual]

Destructor.

Definition at line 74 of file CICP.h.

---

Member Function Documentation

CPosePDFPtr mrpt::slam::CICP::AlignPDF	(	const CMetricMap *	m1,
		const CMetricMap *	m2,
		const CPosePDFGaussian &	initialEstimationPDF,
		float *	runningTime = NULL,
		void *	info = NULL
	)			[virtual]

An implementation of CMetricMapsAlignmentAlgorithm for the case of a point maps and a occupancy grid/point map.

This method computes the PDF of the displacement (relative pose) between two maps: the relative pose of m2 with respect to m1. This pose is returned as a PDF rather than a single value.

Note:

This method can be configurated with "CICP::options"

The output PDF is a CPosePDFGaussian if "doRANSAC=false", or a CPosePDFSOG otherwise.

Parameters:

	m1	[IN] The first map (CAN BE A mrpt::poses::CPointsMap derived class or a mrpt::slam::COccupancyGrid2D class)
	m2	[IN] The second map. (MUST BE A mrpt::poses::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 NULL if you don't need it.
	info	[OUT] A pointer to a CICP::TReturnInfo, or NULL if it isn't needed.

Returns:

A smart pointer to the output estimated pose PDF.

See also:

CMetricMapsAlignmentAlgorithm, CICP::options, CICP::TReturnInfo

Implements mrpt::slam::CMetricMapsAlignmentAlgorithm.

CPosePDFPtr mrpt::slam::CICP::ICP_Method_Classic	(	const CMetricMap *	m1,
		const CMetricMap *	m2,
		const CPosePDFGaussian &	initialEstimationPDF,
		TReturnInfo &	outInfo
	)			[protected]

The internal method implementing CICP::AlignPDF when options.ICP_algorithm is icpClassic.

CPosePDFPtr mrpt::slam::CICP::ICP_Method_IKF	(	const CMetricMap *	m1,
		const CMetricMap *	m2,
		const CPosePDFGaussian &	initialEstimationPDF,
		TReturnInfo &	outInfo
	)			[protected]

The internal method implementing CICP::AlignPDF when options.ICP_algorithm is icpIKF.

CPosePDFPtr mrpt::slam::CICP::ICP_Method_LM	(	const CMetricMap *	m1,
		const CMetricMap *	m2,
		const CPosePDFGaussian &	initialEstimationPDF,
		TReturnInfo &	outInfo
	)			[protected]

The internal method implementing CICP::AlignPDF when options.ICP_algorithm is icpLevenbergMarquardt.

float mrpt::slam::CICP::kernel	(	const float &	x2,
		const float &	rho2
	)			[protected]

Computes:

or just return the input if options.useKernel = false.

---

Member Data Documentation

mrpt::slam::CICP::TConfigParams mrpt::slam::CICP::options

The ICP algorithm configuration data.