#include <mrpt/slam/CGridMapAligner.h>
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. |
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.
Definition at line 54 of file CGridMapAligner.h.
The type for selecting the grid-map alignment algorithm.
Definition at line 83 of file CGridMapAligner.h.
mrpt::slam::CGridMapAligner::CGridMapAligner | ( | ) | [inline] |
Definition at line 77 of file CGridMapAligner.h.
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"
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. |
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.
The ICP algorithm configuration data.
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