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<div class="title">CConsistentObservationAlignment.h</div> </div>
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<a href="_c_consistent_observation_alignment_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CCONSISTENTOBSERVATIONALIGNMENT_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CCONSISTENTOBSERVATIONALIGNMENT_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_simple_map_8h.html">mrpt/slam/CSimpleMap.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_pose2_d_8h.html">mrpt/poses/CPose2D.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_points_map_8h.html">mrpt/slam/CPointsMap.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_i_c_p_8h.html">mrpt/slam/CICP.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_pose_p_d_f_gaussian_8h.html">mrpt/poses/CPosePDFGaussian.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_occupancy_grid_map2_d_8h.html">mrpt/slam/COccupancyGridMap2D.h</a>></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="preprocessor">#include <<a class="code" href="_c_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <<a class="code" href="_c_matrix_8h.html">mrpt/math/CMatrix.h</a>></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <<a class="code" href="_c_matrix_template_objects_8h.html">mrpt/math/CMatrixTemplateObjects.h</a>></span>
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="preprocessor">#include <<a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html">mrpt/slam/link_pragmas.h</a>></span>
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="keyword">namespace </span>mrpt
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="keyword">namespace </span>slam
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00049"></a>00049 <span class="comment"></span>
<a name="l00050"></a>00050 <span class="comment"> /** An algorithm for globally, consistent alignment of a</span>
<a name="l00051"></a>00051 <span class="comment"> * sequence of observations.</span>
<a name="l00052"></a>00052 <span class="comment"> * This algorithm is based on the work of Lu & Milios</span>
<a name="l00053"></a>00053 <span class="comment"> * [Globally Consistent Range Scan Alignment for Environment Mapping, 1997]</span>
<a name="l00054"></a>00054 <span class="comment"> * for a global optimal estimation of laser range scan poses, but in</span>
<a name="l00055"></a>00055 <span class="comment"> * this case it has been extended to include any type of</span>
<a name="l00056"></a>00056 <span class="comment"> * observations as long as points-map-like operators are implemented over them.</span>
<a name="l00057"></a>00057 <span class="comment"> * <br></span>
<a name="l00058"></a>00058 <span class="comment"> * <b>This class work in the following way:</b><br></span>
<a name="l00059"></a>00059 <span class="comment"> * The input is a set of observations with associated "global" poses. This is</span>
<a name="l00060"></a>00060 <span class="comment"> * supplied with a "CSimpleMap" object, but the probabilistic poses</span>
<a name="l00061"></a>00061 <span class="comment"> * are ignored since only the mean values for the pose of each node are taken.<br></span>
<a name="l00062"></a>00062 <span class="comment"> * After invoking the algorithm with CConsistentObservationAlignment::execute(),</span>
<a name="l00063"></a>00063 <span class="comment"> * a new "CSimpleMap" object is returned, where the</span>
<a name="l00064"></a>00064 <span class="comment"> * NOTE: The first node on the input map is used as reference and therefore</span>
<a name="l00065"></a>00065 <span class="comment"> * its pose is the only one which will never change.</span>
<a name="l00066"></a>00066 <span class="comment"> * </span>
<a name="l00067"></a>00067 <span class="comment"> * \note This class is superseded by more modern implementations of graph-slam. See mrpt::graphslam</span>
<a name="l00068"></a>00068 <span class="comment"> *</span>
<a name="l00069"></a>00069 <span class="comment"> * \sa CSimpleMap, CPosePDF, CObservation, utils::CDebugOutputCapable \ingroup mrpt_slam_grp</span>
<a name="l00070"></a>00070 <span class="comment"> */</span>
<a name="l00071"></a>00071 <span class="keyword">class </span><a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> CConsistentObservationAlignment : <span class="keyword">public</span> mrpt::utils::CDebugOutputCapable
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment"> /** A sequence of probabilistic poses:</span>
<a name="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a><a class="code" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html#a4500270ac40c2322cc7576e83420c33e">00076</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<CPosePDFGaussianPtr></a> <a class="code" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html#a4500270ac40c2322cc7576e83420c33e" title="A sequence of probabilistic poses:">vector_posesPdf</a>;
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="keyword">public</span>:
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <a class="code" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html" title="An algorithm for globally, consistent alignment of a sequence of observations.">CConsistentObservationAlignment</a>();
<a name="l00081"></a>00081 <span class="comment"></span>
<a name="l00082"></a>00082 <span class="comment"> /** The options for the method.</span>
<a name="l00083"></a>00083 <span class="comment"> */</span>
<a name="l00084"></a>00084 <span class="keyword">struct </span><a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> <a class="code" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html" title="The options for the method.">TOptions</a>
<a name="l00085"></a>00085 {<span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Initialization:</span>
<a name="l00087"></a>00087 <span class="comment"> */</span>
<a name="l00088"></a>00088 <a class="code" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html" title="The options for the method.">TOptions</a>();
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** If set to true (default), the matching will be performed against grid maps, instead of points maps:</span>
<a name="l00091"></a>00091 <span class="comment"> */</span>
<a name="l00092"></a><a class="code" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#abf6e4ea1c8e9a2aed37202e655e24857">00092</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#abf6e4ea1c8e9a2aed37202e655e24857" title="If set to true (default), the matching will be performed against grid maps, instead of points maps:...">matchAgainstGridmap</a>;
<a name="l00093"></a>00093 <span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** The resolution of the grid maps (default = 0.02m)</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a><a class="code" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#aaa4617da7519a68280f76b90f74380b1">00096</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#aaa4617da7519a68280f76b90f74380b1" title="The resolution of the grid maps (default = 0.02m)">gridMapsResolution</a>;
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** The options for building temporary maps.</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a><a class="code" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#a350aadd73ac87c5ce413c363729846bf">00100</a> <a class="code" href="classmrpt_1_1slam_1_1_c_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...">CPointsMap</a>::TInsertionOptions <a class="code" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#a350aadd73ac87c5ce413c363729846bf" title="The options for building temporary maps.">pointsMapOptions</a>;
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** The options for building temporary maps.</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a><a class="code" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#a8eed0c166ec051952998b50d8c90901d">00104</a> <a class="code" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html" title="A class for storing an occupancy grid map.">COccupancyGridMap2D</a>::TInsertionOptions <a class="code" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#a8eed0c166ec051952998b50d8c90901d" title="The options for building temporary maps.">gridInsertOptions</a>;
<a name="l00105"></a>00105 <span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** The options for the ICP algorithm.</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a><a class="code" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#a37b07499a4323c6526756972552e82ed">00108</a> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p.html" title="Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a ...">CICP</a>::TConfigParams <a class="code" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#a37b07499a4323c6526756972552e82ed" title="The options for the ICP algorithm.">icpOptions</a>;
<a name="l00109"></a>00109
<a name="l00110"></a>00110 } options;
<a name="l00111"></a>00111 <span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment"> /** Executes the algorithm. See description in CConsistentObservationAlignment.</span>
<a name="l00113"></a>00113 <span class="comment"> *</span>
<a name="l00114"></a>00114 <span class="comment"> * \param inputMap The input to the algorithm: a set of nodes situated (with global coordinates) and observations from each node.</span>
<a name="l00115"></a>00115 <span class="comment"> * \param outputMap The globally consistent map, where probabilitic poses are filled with gaussian PDFs, where the mean is the globally optimal estimation and the covariance is also computed.</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a>00117 <span class="keywordtype">void</span> execute(
<a name="l00118"></a>00118 <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> &inputMap,
<a name="l00119"></a>00119 <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> &outputMap );
<a name="l00120"></a>00120 <span class="comment"></span>
<a name="l00121"></a>00121 <span class="comment"> /** This alternate method provides the basic consistent alignment algorithm to any user-supplied matrix of pose constrainsts, returning the optimal poses of all the nodes relative to the first one.</span>
<a name="l00122"></a>00122 <span class="comment"> * \param in_PoseConstraints This is a NxN matrix where element M(i,j) is the pose constrainst between node "i" and "j". Please, fill out only the upper-triangle part of the matrix (diagonal and lowe-part entries are not used).</span>
<a name="l00123"></a>00123 <span class="comment"> * \param out_OptimalPoses The 1xN vector with the consistent global poses of all nodes, where the first node is always at (0,0,0deg).</span>
<a name="l00124"></a>00124 <span class="comment"> */</span>
<a name="l00125"></a>00125 <span class="keyword">static</span> <span class="keywordtype">void</span> optimizeUserSuppliedData(
<a name="l00126"></a>00126 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_objects.html" title="This template class extends the class "CMatrixTemplate" for storing "objects" at each matrix entry...">math::CMatrixTemplateObjects<CPosePDFGaussian></a> &in_PoseConstraints,
<a name="l00127"></a>00127 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_objects.html" title="This template class extends the class "CMatrixTemplate" for storing "objects" at each matrix entry...">math::CMatrixTemplateObjects<CPosePDFGaussian></a> &out_OptimalPoses );
<a name="l00128"></a>00128 <span class="comment"></span>
<a name="l00129"></a>00129 <span class="comment"> /** A textual description for the implemented algorithm.</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a>00131 std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> getAlgorithmName();
<a name="l00132"></a>00132
<a name="l00133"></a>00133 }; <span class="comment">// End of class def.</span>
<a name="l00134"></a>00134
<a name="l00135"></a>00135 } <span class="comment">// End of namespace</span>
<a name="l00136"></a>00136 } <span class="comment">// End of namespace</span>
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <span class="preprocessor">#endif</span>
</pre></div></div>
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