9 #ifndef CGridMapAligner_H 10 #define CGridMapAligner_H 43 mrpt::poses::CPosePDFPtr AlignPDF_correlation(
47 float *runningTime = NULL,
52 mrpt::poses::CPosePDFPtr AlignPDF_robustMatch(
56 float *runningTime = NULL,
154 mrpt::poses::CPosePDFSOGPtr sog1,sog2,
sog3;
165 idx_this(i1), idx_other(i2), dist(d)
198 mrpt::poses::CPosePDFPtr AlignPDF(
202 float *runningTime = NULL,
208 mrpt::poses::CPose3DPDFPtr Align3DPDF(
212 float *runningTime = NULL,
double ransac_chi2_quantile
[amModifiedRANSAC method only] The quantile used for chi-square thresholding (default=0....
std::vector< TPairPlusDistance > correspondences_dists_maha
Mahalanobis distance for each potential correspondence.
slam::CGridMapAligner::TAlignerMethod enum_t
double maxKLd_for_merge
Maximum KL-divergence for merging modes of the SOG (default=0.9)
A class for aligning two multi-metric maps (with an occupancy grid maps and a points map,...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
bool debug_show_corrs
DEBUG - Show graphs with the details of each feature correspondences.
TAlignerMethod
The type for selecting the grid-map alignment algorithm.
The ICP algorithm configuration data.
TReturnInfo()
Initialization.
Only specializations of this class are defined for each enum type of interest.
The ICP algorithm return information.
TPairPlusDistance(size_t i1, size_t i2, float d)
This class allows loading and storing values and vectors of different types from a configuration text...
size_t cbSize
Size of the structure, do not change, it's set automatically.
mrpt::maps::CLandmarksMapPtr landmarks_map2
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
mrpt::vision::TDescriptorType feature_descriptor
The feature descriptor to use: 0=detector already has descriptor, 1= SIFT, 2=SURF,...
Declares a class that represents a Probability Density function (PDF) of a 2D pose .
bool debug_save_map_pairs
DEBUG - Save the pair of maps with all the pairings.
mrpt::maps::CLandmarksMapPtr CLandmarksMapPtr
Backward compatible typedef.
bool save_feat_coors
DEBUG - Dump all feature correspondences in a directory "grid_feats".
mrpt::vision::CFeatureExtraction::TOptions feature_detector_options
All the parameters for the feature detector.
COccupancyGridMapFeatureExtractor m_grid_feat_extr
Grid map features extractor.
mrpt::poses::CPosePDFSOGPtr sog3
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std...
mrpt::utils::TMatchingPairList correspondences
All the found correspondences (not consistent)
float ransac_minSetSizeRatio
RANSAC-step options:
float ransac_SOG_sigma_m
The square root of the uncertainty normalization variance var_m (see papers...)
float threshold_delta
Correspondences are considered if their distances to the best match are below this threshold (in the ...
TDescriptorType
The bitwise OR combination of values of TDescriptorType are used in CFeatureExtraction::computeDescri...
float goodness
A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences.
float ransac_mahalanobisDistanceThreshold
[amRobustMatch method only] RANSAC-step options:
std::vector< double > icp_goodness_all_sog_modes
The ICP goodness of all potential SOG modes at the stage "sog2", thus before the removing of "bad" IC...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
double ransac_prob_good_inliers
Probability of having a good inliers (def:0,9999), used for automatic number of iterations.
Declares a virtual base class for all metric maps storage classes.
A class used to store a 2D pose.
A base class for any algorithm able of maps alignment.
static void fill(bimap< enum_t, std::string > &m_map)
double max_ICP_mahadist
The maximum Mahalanobis distance between the initial and final poses in the ICP not to discard the hy...
float featsPerSquareMeter
Features extraction from grid map: How many features to extract.
Declares a class that represents a Probability Density function (PDF) of a 3D pose .
TAlignerMethod methodSelection
The aligner method:
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
float threshold_max
Correspondences are considered if their distances are below this threshold (in the range [0,...
mrpt::poses::CPose2D noRobustEstimation
The "brute" estimation from using all the available correspondences, provided just for comparison pur...
float min_ICP_goodness
The minimum goodness (0-1) of the post-matching ICP to accept a hypothesis as good (default=0....
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...