#include <mrpt/slam/CICP.h>
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. | |
CPose3DPDFPtr | Align3DPDF (const CMetricMap *m1, const CMetricMap *m2, const CPose3DPDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL) |
Align a pair of metric maps, aligning the full 6D pose. | |
Public Attributes | |
mrpt::slam::CICP::TConfigParams | options |
The ICP algorithm configuration data. | |
Protected Member Functions | |
float | kernel (const float &x2, const float &rho2) |
Computes:
| |
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. | |
CPose3DPDFPtr | ICP3D_Method_Classic (const CMetricMap *m1, const CMetricMap *m2, const CPose3DPDFGaussian &initialEstimationPDF, TReturnInfo &outInfo) |
The internal method implementing CICP::Align3DPDF when options.ICP_algorithm is icpClassic. |
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
Definition at line 66 of file CICP.h.
virtual mrpt::slam::CICP::~CICP | ( | ) | [inline, virtual] |
CPose3DPDFPtr mrpt::slam::CICP::Align3DPDF | ( | const CMetricMap * | m1, | |
const CMetricMap * | m2, | |||
const CPose3DPDFGaussian & | initialEstimationPDF, | |||
float * | runningTime = NULL , |
|||
void * | info = NULL | |||
) | [virtual] |
Align a pair of metric maps, aligning the full 6D pose.
The meaning of some parameters are implementation dependant, so look at the derived classes for more details. The goal is to find a PDF for the pose displacement between maps, that is, the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.
m1 | [IN] The first map (MUST BE A COccupancyGridMap2D derived class) | |
m2 | [IN] The second map. (MUST BE A 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] See derived classes for details, or NULL if it isn't needed. |
Implements mrpt::slam::CMetricMapsAlignmentAlgorithm.
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.
The output PDF is a CPosePDFGaussian if "doRANSAC=false", or a CPosePDFSOG otherwise.
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. |
Implements mrpt::slam::CMetricMapsAlignmentAlgorithm.
CPose3DPDFPtr mrpt::slam::CICP::ICP3D_Method_Classic | ( | const CMetricMap * | m1, | |
const CMetricMap * | m2, | |||
const CPose3DPDFGaussian & | initialEstimationPDF, | |||
TReturnInfo & | outInfo | |||
) | [protected] |
The internal method implementing CICP::Align3DPDF when options.ICP_algorithm is icpClassic.
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.
The ICP algorithm configuration data.
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