Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a point map wrt a grid map.
CICP::AlignPDF() or CICP::Align() are the two main entry points of the algorithm.
To choose among existing ICP algorithms or customizing their parameters, see CICP::TConfigParams and the member options.
There exists an extension of the original ICP algorithm that provides multihypotheses-support for the correspondences, and which generates a Sum-of-Gaussians (SOG) PDF as output. See mrpt::tfest::se2_l2_robust()
For further details on the implemented methods, check the web: http://www.mrpt.org/Iterative_Closest_Point_(ICP)_and_other_matching_algorithms
For a paper explaining some of the basic equations, see for example: J. Martinez, J. Gonzalez, J. Morales, A. Mandow, A. Garcia-Cerezo, "Mobile robot motion estimation by 2D scan matching with genetic and iterative closest point algorithms", Journal of Field Robotics, vol. 23, no. 1, pp. 21-34, 2006. ( http://babel.isa.uma.es/~jlblanco/papers/martinez2006gil.pdf )
#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 () | |
Constructor with the default options. | |
CICP (const TConfigParams &icpParams) | |
Constructor that directly set the ICP params from a given struct. | |
virtual | ~CICP () |
Destructor. | |
mrpt::poses::CPosePDFPtr | AlignPDF (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::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. | |
mrpt::poses::CPose3DPDFPtr | Align3DPDF (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3DPDFGaussian &initialEstimationPDF, float *runningTime=NULL, void *info=NULL) |
The virtual method for aligning a pair of metric maps, aligning the full 6D pose. | |
mrpt::poses::CPosePDFPtr | Align (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose2D &grossEst, float *runningTime=NULL, void *info=NULL) |
The method for aligning a pair of metric maps, aligning only 2D + orientation. | |
mrpt::poses::CPose3DPDFPtr | Align3D (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3D &grossEst, float *runningTime=NULL, void *info=NULL) |
The method for aligning a pair of metric maps, aligning the full 6D pose. | |
Static Public Member Functions | |
static void | printf_debug (const char *frmt,...) |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise. | |
Public Attributes | |
TConfigParams | options |
The options employed by the ICP align. | |
Protected Member Functions | |
float | kernel (const float &x2, const float &rho2) |
Computes: | |
mrpt::poses::CPosePDFPtr | ICP_Method_Classic (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, TReturnInfo &outInfo) |
mrpt::poses::CPosePDFPtr | ICP_Method_LM (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, TReturnInfo &outInfo) |
mrpt::poses::CPose3DPDFPtr | ICP3D_Method_Classic (const mrpt::maps::CMetricMap *m1, const mrpt::maps::CMetricMap *m2, const mrpt::poses::CPose3DPDFGaussian &initialEstimationPDF, TReturnInfo &outInfo) |
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The method for aligning a pair of metric maps, aligning only 2D + orientation.
The meaning of some parameters and the kind of the maps to be aligned are implementation dependant, so look into the 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.
m1 | [IN] The first map |
m2 | [IN] The second map. The pose of this map respect to m1 is to be estimated. |
grossEst | [IN] An initial gross estimation for the displacement. If a given algorithm doesn't need it, set to CPose2D(0,0,0) for example. |
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. |
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inherited |
The method for aligning a pair of metric maps, aligning the full 6D pose.
The meaning of some parameters and the kind of the maps to be aligned are implementation dependant, so look into the 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.
m1 | [IN] The first map |
m2 | [IN] The second map. The pose of this map respect to m1 is to be estimated. |
grossEst | [IN] An initial gross estimation for the displacement. If a given algorithm doesn't need it, set to CPose3D(0,0,0) for example. |
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. |
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The virtual method for aligning 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.
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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.
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.
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Computes:
or just return the input if options.useKernel = false.
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Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().
TConfigParams mrpt::slam::CICP::options |
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