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<div class="title">CICP.h</div> </div>
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<a href="_c_i_c_p_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 CICP_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CICP_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_metric_maps_alignment_algorithm_8h.html">mrpt/slam/CMetricMapsAlignmentAlgorithm.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_loadable_options_8h.html">mrpt/utils/CLoadableOptions.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036 <span class="keyword">namespace </span>slam
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">using namespace </span>poses;
<a name="l00039"></a>00039 <span class="comment"></span>
<a name="l00040"></a>00040 <span class="comment"> /** The ICP algorithm selection, used in mrpt::slam::CICP::options.</span>
<a name="l00041"></a>00041 <span class="comment"> * For details on the algorithms refer to http://www.mrpt.org/Scan_Matching_Algorithms</span>
<a name="l00042"></a>00042 <span class="comment"> * \ingroup mrpt_slam_grp</span>
<a name="l00043"></a>00043 <span class="comment"> */</span>
<a name="l00044"></a><a class="code" href="group__mrpt__slam__grp.html#gaa571f1b2df97883ce80558fc43dc4844">00044</a> <span class="keyword">enum</span> <a class="code" href="group__mrpt__slam__grp.html#gaa571f1b2df97883ce80558fc43dc4844" title="The ICP algorithm selection, used in mrpt::slam::CICP::options.">TICPAlgorithm</a>
<a name="l00045"></a>00045 {
<a name="l00046"></a><a class="code" href="group__mrpt__slam__grp.html#ggaa571f1b2df97883ce80558fc43dc4844ade94fc09573025addb1a0b3648f7e70f">00046</a> <a class="code" href="group__mrpt__slam__grp.html#ggaa571f1b2df97883ce80558fc43dc4844ade94fc09573025addb1a0b3648f7e70f">icpClassic</a> = 0,
<a name="l00047"></a><a class="code" href="group__mrpt__slam__grp.html#ggaa571f1b2df97883ce80558fc43dc4844ab8b007ff9821e42341b90763116c7f8d">00047</a> <a class="code" href="group__mrpt__slam__grp.html#ggaa571f1b2df97883ce80558fc43dc4844ab8b007ff9821e42341b90763116c7f8d">icpLevenbergMarquardt</a>,
<a name="l00048"></a><a class="code" href="group__mrpt__slam__grp.html#ggaa571f1b2df97883ce80558fc43dc4844a7f98a570e19735f2bf55ed12504b5ca4">00048</a> <a class="code" href="group__mrpt__slam__grp.html#ggaa571f1b2df97883ce80558fc43dc4844a7f98a570e19735f2bf55ed12504b5ca4">icpIKF</a>
<a name="l00049"></a>00049 };
<a name="l00050"></a>00050 <span class="comment"></span>
<a name="l00051"></a>00051 <span class="comment"> /** Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a point map wrt a grid map.</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> * CICP::AlignPDF() or CICP::Align() are the two main entry points of the algorithm.</span>
<a name="l00054"></a>00054 <span class="comment"> *</span>
<a name="l00055"></a>00055 <span class="comment"> * To choose among existing ICP algorithms or customizing their parameters, see CICP::TConfigParams and the member \a options.</span>
<a name="l00056"></a>00056 <span class="comment"> *</span>
<a name="l00057"></a>00057 <span class="comment"> * There exists an extension of the original ICP algorithm that provides multihypotheses-support for the correspondences, and which generates a Sum-of-Gaussians (SOG)</span>
<a name="l00058"></a>00058 <span class="comment"> * PDF as output. See scanmatching::robustRigidTransformation.</span>
<a name="l00059"></a>00059 <span class="comment"> *</span>
<a name="l00060"></a>00060 <span class="comment"> * For further details on the implemented methods, check the web:</span>
<a name="l00061"></a>00061 <span class="comment"> * http://www.mrpt.org/Iterative_Closest_Point_(ICP)_and_other_matching_algorithms</span>
<a name="l00062"></a>00062 <span class="comment"> *</span>
<a name="l00063"></a>00063 <span class="comment"> * For a paper explaining some of the basic equations, see for example:</span>
<a name="l00064"></a>00064 <span class="comment"> * J. Martinez, J. Gonzalez, J. Morales, A. Mandow, A. Garcia-Cerezo,</span>
<a name="l00065"></a>00065 <span class="comment"> * "Genetic and ICP Laser Point Matching for 2D Mobile Robot Motion Estimation",</span>
<a name="l00066"></a>00066 <span class="comment"> * Journal of Field Robotics, vol. 23, no. 1, 2006. ( http://babel.isa.uma.es/~jlblanco/papers/martinez2006gil.pdf )</span>
<a name="l00067"></a>00067 <span class="comment"> *</span>
<a name="l00068"></a>00068 <span class="comment"> * \sa CMetricMapsAlignmentAlgorithm</span>
<a name="l00069"></a>00069 <span class="comment"> * \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> CICP : <span class="keyword">public</span> CMetricMapsAlignmentAlgorithm
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment"> /** The ICP algorithm configuration data</span>
<a name="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a>00076 <span class="keyword">class </span><a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> TConfigParams : <span class="keyword">public</span> utils::CLoadableOptions
<a name="l00077"></a>00077 {
<a name="l00078"></a>00078 <span class="keyword">public</span>:
<a name="l00079"></a>00079 TConfigParams(); <span class="comment">//!< Initializer for default values:</span>
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="keywordtype">void</span> loadFromConfigFile(
<a name="l00082"></a>00082 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &source,
<a name="l00083"></a>00083 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section); <span class="comment">//!< See utils::CLoadableOptions</span>
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="keywordtype">void</span> dumpToTextStream(<a class="code" href="namespacemrpt_1_1utils.html#a4aa6d0388c837d159ca801e48d601449">CStream</a> &out) <span class="keyword">const</span>; <span class="comment">//!<See utils::CLoadableOptions</span>
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** The algorithm to use (default: icpClassic)</span>
<a name="l00089"></a>00089 <span class="comment"> * See http://www.mrpt.org/Scan_Matching_Algorithms for details.</span>
<a name="l00090"></a>00090 <span class="comment"> */</span>
<a name="l00091"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a30ee4c58a17f1e009562cd54854e3852">00091</a> <a class="code" href="group__mrpt__slam__grp.html#gaa571f1b2df97883ce80558fc43dc4844" title="The ICP algorithm selection, used in mrpt::slam::CICP::options.">TICPAlgorithm</a> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a30ee4c58a17f1e009562cd54854e3852" title="The algorithm to use (default: icpClassic) See http://www.mrpt.org/Scan_Matching_Algorithms for detai...">ICP_algorithm</a>;
<a name="l00092"></a>00092
<a name="l00093"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a7181cbefad7a413f25fd7f61de87c27a">00093</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a7181cbefad7a413f25fd7f61de87c27a" title="The usual approach: to consider only the closest correspondence for each local point (Default to true...">onlyClosestCorrespondences</a>; <span class="comment">//!< The usual approach: to consider only the closest correspondence for each local point (Default to true)</span>
<a name="l00094"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a1d4124229edf4a6961a826357a0b79b5">00094</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a1d4124229edf4a6961a826357a0b79b5">onlyUniqueRobust</a>; <span class="comment">//! Apart of "onlyClosestCorrespondences=true", if this option is enabled only the closest correspondence for each reference point will be kept (default=false).</span>
<a name="l00095"></a>00095 <span class="comment"></span><span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /** @name Termination criteria</span>
<a name="l00097"></a>00097 <span class="comment"> @{ */</span>
<a name="l00098"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a1e5d14bcea11e3a5d9202747d29dd132">00098</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a1e5d14bcea11e3a5d9202747d29dd132" title="Maximum number of iterations to run.">maxIterations</a>; <span class="comment">//!< Maximum number of iterations to run.</span>
<a name="l00099"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a983a54786ac4b7eedde59917508c546c">00099</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a983a54786ac4b7eedde59917508c546c" title="If the correction in all translation coordinates (X,Y,Z) is below this threshold (in meters)...">minAbsStep_trans</a>; <span class="comment">//!< If the correction in all translation coordinates (X,Y,Z) is below this threshold (in meters), iterations are terminated (Default:1e-6)</span>
<a name="l00100"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#aea30b240c62c27d85fa01f8beae60106">00100</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#aea30b240c62c27d85fa01f8beae60106" title="If the correction in all rotation coordinates (yaw,pitch,roll) is below this threshold (in radians)...">minAbsStep_rot</a>; <span class="comment">//!< If the correction in all rotation coordinates (yaw,pitch,roll) is below this threshold (in radians), iterations are terminated (Default:1e-6)</span>
<a name="l00101"></a>00101 <span class="comment"></span><span class="comment"> /** @} */</span>
<a name="l00102"></a>00102
<a name="l00103"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ad05dd941eeb43577c13e4f4a754f21a7">00103</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ad05dd941eeb43577c13e4f4a754f21a7">thresholdDist</a>,thresholdAng; <span class="comment">//!< Initial threshold distance for two points to become a correspondence.</span>
<a name="l00104"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#aaa04254eb1b20ef8ad047235756f1e34">00104</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#aaa04254eb1b20ef8ad047235756f1e34" title="The scale factor for threshold everytime convergence is achieved.">ALFA</a>; <span class="comment">//!< The scale factor for threshold everytime convergence is achieved.</span>
<a name="l00105"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a59f00ac67c0df05e9e17c836308dddb0">00105</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a59f00ac67c0df05e9e17c836308dddb0" title="The size for threshold such that iterations will stop, since it is considered precise enough...">smallestThresholdDist</a>; <span class="comment">//!< The size for threshold such that iterations will stop, since it is considered precise enough.</span>
<a name="l00106"></a>00106 <span class="comment"></span><span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** This is the normalization constant \f$ \sigma^2_p \f$ that is used to scale the whole 3x3 covariance.</span>
<a name="l00108"></a>00108 <span class="comment"> * This has a default value of \f$ (0.02)^2 \f$, that is, a 2cm sigma.</span>
<a name="l00109"></a>00109 <span class="comment"> * See the paper: ....</span>
<a name="l00110"></a>00110 <span class="comment"> */</span>
<a name="l00111"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ae07148a70cec484608db67cf7f69b37b">00111</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ae07148a70cec484608db67cf7f69b37b" title="This is the normalization constant that is used to scale the whole 3x3 covariance.">covariance_varPoints</a>;
<a name="l00112"></a>00112
<a name="l00113"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#abe529e3103316441d8004e88b627d7f7">00113</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#abe529e3103316441d8004e88b627d7f7" title="Perform a RANSAC step after the ICP convergence, to obtain a better estimation of the pose PDF...">doRANSAC</a>; <span class="comment">//!< Perform a RANSAC step after the ICP convergence, to obtain a better estimation of the pose PDF.</span>
<a name="l00114"></a>00114 <span class="comment"></span><span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** RANSAC-step options:</span>
<a name="l00116"></a>00116 <span class="comment"> * \sa CICP::robustRigidTransformation</span>
<a name="l00117"></a>00117 <span class="comment"> */</span>
<a name="l00118"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#afbff9681d3b348bde47d242b0cd38077">00118</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ransac_minSetSize,ransac_maxSetSize,<a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#afbff9681d3b348bde47d242b0cd38077">ransac_nSimulations</a>;
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** RANSAC-step options:</span>
<a name="l00121"></a>00121 <span class="comment"> * \sa CICP::robustRigidTransformation</span>
<a name="l00122"></a>00122 <span class="comment"> */</span>
<a name="l00123"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ae778689bc165ed0f0d59b61df4706e0e">00123</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ae778689bc165ed0f0d59b61df4706e0e" title="RANSAC-step options:">ransac_mahalanobisDistanceThreshold</a>;
<a name="l00124"></a>00124 <span class="comment"></span>
<a name="l00125"></a>00125 <span class="comment"> /** RANSAC-step option: The standard deviation in X,Y of landmarks/points which are being matched (used to compute covariances in the SoG)</span>
<a name="l00126"></a>00126 <span class="comment"> * \sa CICP::robustRigidTransformation</span>
<a name="l00127"></a>00127 <span class="comment"> */</span>
<a name="l00128"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a675cf4d424dca544e791261719f84dfe">00128</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a675cf4d424dca544e791261719f84dfe" title="RANSAC-step option: The standard deviation in X,Y of landmarks/points which are being matched (used t...">normalizationStd</a>;
<a name="l00129"></a>00129 <span class="comment"></span>
<a name="l00130"></a>00130 <span class="comment"> /** RANSAC-step options:</span>
<a name="l00131"></a>00131 <span class="comment"> * \sa CICP::robustRigidTransformation</span>
<a name="l00132"></a>00132 <span class="comment"> */</span>
<a name="l00133"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ac88ff848732872806962df9238d455c4">00133</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ac88ff848732872806962df9238d455c4" title="RANSAC-step options:">ransac_fuseByCorrsMatch</a>;
<a name="l00134"></a>00134 <span class="comment"></span>
<a name="l00135"></a>00135 <span class="comment"> /** RANSAC-step options:</span>
<a name="l00136"></a>00136 <span class="comment"> * \sa CICP::robustRigidTransformation</span>
<a name="l00137"></a>00137 <span class="comment"> */</span>
<a name="l00138"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a2fe7ef07476e7dbeb73ef590fe7209cb">00138</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a2fe7ef07476e7dbeb73ef590fe7209cb" title="RANSAC-step options:">ransac_fuseMaxDiffXY</a>, ransac_fuseMaxDiffPhi;
<a name="l00139"></a>00139 <span class="comment"></span>
<a name="l00140"></a>00140 <span class="comment"> /** Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0.07m). */</span>
<a name="l00141"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ad6baab9560352c9ef6d81a31ebb1aba4">00141</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ad6baab9560352c9ef6d81a31ebb1aba4" title="Cauchy kernel rho, for estimating the optimal transformation covariance, in meters (default = 0...">kernel_rho</a>;
<a name="l00142"></a>00142 <span class="comment"></span>
<a name="l00143"></a>00143 <span class="comment"> /** Whether to use kernel_rho to smooth distances, or use distances directly (default=true) */</span>
<a name="l00144"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ae33266da0d7f878bb34b24093a9361fc">00144</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ae33266da0d7f878bb34b24093a9361fc" title="Whether to use kernel_rho to smooth distances, or use distances directly (default=true)">use_kernel</a>;
<a name="l00145"></a>00145 <span class="comment"></span>
<a name="l00146"></a>00146 <span class="comment"> /** The size of the perturbance in x & y used to estimate the Jacobians of the square error (in LM & IKF methods, default=0.05).*/</span>
<a name="l00147"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a2f05fedb48ccd6310a2434008eba48d9">00147</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a2f05fedb48ccd6310a2434008eba48d9" title="The size of the perturbance in x & y used to estimate the Jacobians of the square error (in LM & IKF ...">Axy_aprox_derivatives</a>;
<a name="l00148"></a>00148 <span class="comment"></span>
<a name="l00149"></a>00149 <span class="comment"> /** The initial value of the lambda parameter in the LM method (default=1e-4). */</span>
<a name="l00150"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ae6d663de769844bd32a7d90c3527ed12">00150</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#ae6d663de769844bd32a7d90c3527ed12" title="The initial value of the lambda parameter in the LM method (default=1e-4).">LM_initial_lambda</a>;
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 <span class="comment"> /** Skip the computation of the covariance (saves some time) (default=false) */</span>
<a name="l00153"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a78cbda2bf51044b792d767c7a7b789d4">00153</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a78cbda2bf51044b792d767c7a7b789d4" title="Skip the computation of the covariance (saves some time) (default=false)">skip_cov_calculation</a>;
<a name="l00154"></a>00154 <span class="comment"></span>
<a name="l00155"></a>00155 <span class="comment"> /** Decimation of the point cloud being registered against the reference one (default=5) - set to 1 to have the older (MRPT <0.9.5) behavior</span>
<a name="l00156"></a>00156 <span class="comment"> * of not approximating ICP by ignoring the correspondence of some points. The speed-up comes from a decimation of the number of KD-tree queries,</span>
<a name="l00157"></a>00157 <span class="comment"> * the most expensive step in ICP.</span>
<a name="l00158"></a>00158 <span class="comment"> */</span>
<a name="l00159"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a3ec774b005bbb5ca3b91cc772025f6a1">00159</a> uint32_t <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html#a3ec774b005bbb5ca3b91cc772025f6a1" title="Decimation of the point cloud being registered against the reference one (default=5) - set to 1 to ha...">corresponding_points_decimation</a>;
<a name="l00160"></a>00160
<a name="l00161"></a>00161 };
<a name="l00162"></a>00162
<a name="l00163"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p.html#ac5276790c90522d2c506a0265305bcef">00163</a> TConfigParams <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p.html#ac5276790c90522d2c506a0265305bcef" title="The options employed by the ICP align.">options</a>; <span class="comment">//!< The options employed by the ICP align.</span>
<a name="l00164"></a>00164 <span class="comment"></span>
<a name="l00165"></a>00165 <span class="comment"></span>
<a name="l00166"></a>00166 <span class="comment"> /** Constructor with the default options */</span>
<a name="l00167"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p.html#a03c787f3328250801118933dbc9d97dd">00167</a> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p.html#a03c787f3328250801118933dbc9d97dd" title="Constructor with the default options.">CICP</a>() : options() { }<span class="comment"></span>
<a name="l00168"></a>00168 <span class="comment"> /** Constructor that directly set the ICP params from a given struct \sa options */</span>
<a name="l00169"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p.html#a90f68da0ac5ccafa22850691a59bcc49">00169</a> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p.html#a90f68da0ac5ccafa22850691a59bcc49" title="Constructor that directly set the ICP params from a given struct.">CICP</a>(<span class="keyword">const</span> TConfigParams &icpParams) : options(icpParams) { }
<a name="l00170"></a>00170
<a name="l00171"></a><a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p.html#a9c69682c870276c32f204e44218b3e56">00171</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1slam_1_1_c_i_c_p.html#a9c69682c870276c32f204e44218b3e56" title="Destructor.">~CICP</a>() { } <span class="comment">//!< Destructor</span>
<a name="l00172"></a>00172 <span class="comment"></span>
<a name="l00173"></a>00173 <span class="comment"></span>
<a name="l00174"></a>00174 <span class="comment"> /** The ICP algorithm return information.</span>
<a name="l00175"></a>00175 <span class="comment"> */</span>
<a name="l00176"></a>00176 <span class="keyword">struct </span><a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> TReturnInfo
<a name="l00177"></a>00177 {
<a name="l00178"></a><a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html#a221cc70e2693b8bc8962dee2384e69e9">00178</a> <a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html" title="The ICP algorithm return information.">TReturnInfo</a>() :
<a name="l00179"></a>00179 cbSize(sizeof(<a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html" title="The ICP algorithm return information.">TReturnInfo</a>)),
<a name="l00180"></a>00180 nIterations(0),
<a name="l00181"></a>00181 goodness(0),
<a name="l00182"></a>00182 quality(0)
<a name="l00183"></a>00183 {
<a name="l00184"></a>00184 }
<a name="l00185"></a>00185 <span class="comment"></span>
<a name="l00186"></a>00186 <span class="comment"> /** Size in bytes of this struct: Must be set correctly before using it */</span>
<a name="l00187"></a><a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html#a8195367e32bc784f6c8a86445d325ee2">00187</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html#a8195367e32bc784f6c8a86445d325ee2" title="Size in bytes of this struct: Must be set correctly before using it.">cbSize</a>;
<a name="l00188"></a>00188 <span class="comment"></span>
<a name="l00189"></a>00189 <span class="comment"> /** The number of executed iterations until convergence.</span>
<a name="l00190"></a>00190 <span class="comment"> */</span>
<a name="l00191"></a><a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html#a817eb6578c368331c0632b79aac2cda5">00191</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> <a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html#a817eb6578c368331c0632b79aac2cda5" title="The number of executed iterations until convergence.">nIterations</a>;
<a name="l00192"></a>00192 <span class="comment"></span>
<a name="l00193"></a>00193 <span class="comment"> /** A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences.</span>
<a name="l00194"></a>00194 <span class="comment"> */</span>
<a name="l00195"></a><a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html#ab02c8630da29f8e8d25188cd0a16401c">00195</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html#ab02c8630da29f8e8d25188cd0a16401c" title="A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences...">goodness</a>;
<a name="l00196"></a>00196 <span class="comment"></span>
<a name="l00197"></a>00197 <span class="comment"> /** A measure of the 'quality' of the local minimum of the sqr. error found by the method.</span>
<a name="l00198"></a>00198 <span class="comment"> * Higher values are better. Low values will be found in ill-conditioned situations (e.g. a corridor).</span>
<a name="l00199"></a>00199 <span class="comment"> */</span>
<a name="l00200"></a><a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html#a3cb9e33201f62850d41d199aac41ee04">00200</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html#a3cb9e33201f62850d41d199aac41ee04" title="A measure of the 'quality' of the local minimum of the sqr.">quality</a>;
<a name="l00201"></a>00201 };
<a name="l00202"></a>00202 <span class="comment"></span>
<a name="l00203"></a>00203 <span class="comment"> /** An implementation of CMetricMapsAlignmentAlgorithm for the case of a point maps and a occupancy grid/point map.</span>
<a name="l00204"></a>00204 <span class="comment"> *</span>
<a name="l00205"></a>00205 <span class="comment"> * This method computes the PDF of the displacement (relative pose) between</span>
<a name="l00206"></a>00206 <span class="comment"> * two maps: <b>the relative pose of m2 with respect to m1</b>. This pose</span>
<a name="l00207"></a>00207 <span class="comment"> * is returned as a PDF rather than a single value.</span>
<a name="l00208"></a>00208 <span class="comment"> *</span>
<a name="l00209"></a>00209 <span class="comment"> * \note This method can be configurated with "CICP::options"</span>
<a name="l00210"></a>00210 <span class="comment"> * \note The output PDF is a CPosePDFGaussian if "doRANSAC=false", or a CPosePDFSOG otherwise.</span>
<a name="l00211"></a>00211 <span class="comment"> *</span>
<a name="l00212"></a>00212 <span class="comment"> * \param m1 [IN] The first map (CAN BE A mrpt::poses::CPointsMap derived class or a mrpt::slam::COccupancyGrid2D class)</span>
<a name="l00213"></a>00213 <span class="comment"> * \param 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.</span>
<a name="l00214"></a>00214 <span class="comment"> * \param initialEstimationPDF [IN] An initial gross estimation for the displacement.</span>
<a name="l00215"></a>00215 <span class="comment"> * \param runningTime [OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.</span>
<a name="l00216"></a>00216 <span class="comment"> * \param info [OUT] A pointer to a CICP::TReturnInfo, or NULL if it isn't needed.</span>
<a name="l00217"></a>00217 <span class="comment"> *</span>
<a name="l00218"></a>00218 <span class="comment"> * \return A smart pointer to the output estimated pose PDF.</span>
<a name="l00219"></a>00219 <span class="comment"> *</span>
<a name="l00220"></a>00220 <span class="comment"> * \sa CMetricMapsAlignmentAlgorithm, CICP::options, CICP::TReturnInfo</span>
<a name="l00221"></a>00221 <span class="comment"> */</span>
<a name="l00222"></a>00222 <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> AlignPDF(
<a name="l00223"></a>00223 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m1,
<a name="l00224"></a>00224 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m2,
<a name="l00225"></a>00225 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">CPosePDFGaussian</a> &initialEstimationPDF,
<a name="l00226"></a>00226 <span class="keywordtype">float</span> *runningTime = NULL,
<a name="l00227"></a>00227 <span class="keywordtype">void</span> *info = NULL );
<a name="l00228"></a>00228 <span class="comment"></span>
<a name="l00229"></a>00229 <span class="comment"> /** Align a pair of metric maps, aligning the full 6D pose.</span>
<a name="l00230"></a>00230 <span class="comment"> * The meaning of some parameters are implementation dependant,</span>
<a name="l00231"></a>00231 <span class="comment"> * so look at the derived classes for more details.</span>
<a name="l00232"></a>00232 <span class="comment"> * The goal is to find a PDF for the pose displacement between</span>
<a name="l00233"></a>00233 <span class="comment"> * maps, that is, <b>the pose of m2 relative to m1</b>. This pose</span>
<a name="l00234"></a>00234 <span class="comment"> * is returned as a PDF rather than a single value.</span>
<a name="l00235"></a>00235 <span class="comment"> *</span>
<a name="l00236"></a>00236 <span class="comment"> * \note This method can be configurated with a "options" structure in the implementation classes.</span>
<a name="l00237"></a>00237 <span class="comment"> *</span>
<a name="l00238"></a>00238 <span class="comment"> * \param m1 [IN] The first map (MUST BE A COccupancyGridMap2D derived class)</span>
<a name="l00239"></a>00239 <span class="comment"> * \param m2 [IN] The second map. (MUST BE A CPointsMap derived class) The pose of this map respect to m1 is to be estimated.</span>
<a name="l00240"></a>00240 <span class="comment"> * \param initialEstimationPDF [IN] An initial gross estimation for the displacement.</span>
<a name="l00241"></a>00241 <span class="comment"> * \param runningTime [OUT] A pointer to a container for obtaining the algorithm running time in seconds, or NULL if you don't need it.</span>
<a name="l00242"></a>00242 <span class="comment"> * \param info [OUT] See derived classes for details, or NULL if it isn't needed.</span>
<a name="l00243"></a>00243 <span class="comment"> *</span>
<a name="l00244"></a>00244 <span class="comment"> * \return A smart pointer to the output estimated pose PDF.</span>
<a name="l00245"></a>00245 <span class="comment"> * \sa CICP</span>
<a name="l00246"></a>00246 <span class="comment"> */</span>
<a name="l00247"></a>00247 <a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> Align3DPDF(
<a name="l00248"></a>00248 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m1,
<a name="l00249"></a>00249 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m2,
<a name="l00250"></a>00250 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> &initialEstimationPDF,
<a name="l00251"></a>00251 <span class="keywordtype">float</span> *runningTime = NULL,
<a name="l00252"></a>00252 <span class="keywordtype">void</span> *info = NULL );
<a name="l00253"></a>00253
<a name="l00254"></a>00254
<a name="l00255"></a>00255 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00256"></a>00256 <span class="comment"> /** Computes:</span>
<a name="l00257"></a>00257 <span class="comment"> * \f[ K(x^2) = \frac{x^2}{x^2+\rho^2} \f]</span>
<a name="l00258"></a>00258 <span class="comment"> * or just return the input if options.useKernel = false.</span>
<a name="l00259"></a>00259 <span class="comment"> */</span>
<a name="l00260"></a>00260 <span class="keywordtype">float</span> kernel(<span class="keyword">const</span> <span class="keywordtype">float</span> &x2, <span class="keyword">const</span> <span class="keywordtype">float</span> &rho2);
<a name="l00261"></a>00261 <span class="comment"></span>
<a name="l00262"></a>00262 <span class="comment"> /** The internal method implementing CICP::AlignPDF when options.ICP_algorithm is icpClassic.</span>
<a name="l00263"></a>00263 <span class="comment"> */</span>
<a name="l00264"></a>00264 <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> ICP_Method_Classic(
<a name="l00265"></a>00265 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m1,
<a name="l00266"></a>00266 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m2,
<a name="l00267"></a>00267 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">CPosePDFGaussian</a> &initialEstimationPDF,
<a name="l00268"></a>00268 <a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html" title="The ICP algorithm return information.">TReturnInfo</a> &outInfo );
<a name="l00269"></a>00269 <span class="comment"></span>
<a name="l00270"></a>00270 <span class="comment"> /** The internal method implementing CICP::AlignPDF when options.ICP_algorithm is icpLevenbergMarquardt.</span>
<a name="l00271"></a>00271 <span class="comment"> */</span>
<a name="l00272"></a>00272 <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> ICP_Method_LM(
<a name="l00273"></a>00273 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m1,
<a name="l00274"></a>00274 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m2,
<a name="l00275"></a>00275 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">CPosePDFGaussian</a> &initialEstimationPDF,
<a name="l00276"></a>00276 <a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html" title="The ICP algorithm return information.">TReturnInfo</a> &outInfo );
<a name="l00277"></a>00277 <span class="comment"></span>
<a name="l00278"></a>00278 <span class="comment"> /** The internal method implementing CICP::AlignPDF when options.ICP_algorithm is icpIKF.</span>
<a name="l00279"></a>00279 <span class="comment"> */</span>
<a name="l00280"></a>00280 <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> ICP_Method_IKF(
<a name="l00281"></a>00281 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m1,
<a name="l00282"></a>00282 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m2,
<a name="l00283"></a>00283 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">CPosePDFGaussian</a> &initialEstimationPDF,
<a name="l00284"></a>00284 <a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html" title="The ICP algorithm return information.">TReturnInfo</a> &outInfo );
<a name="l00285"></a>00285 <span class="comment"></span>
<a name="l00286"></a>00286 <span class="comment"> /** The internal method implementing CICP::Align3DPDF when options.ICP_algorithm is icpClassic.</span>
<a name="l00287"></a>00287 <span class="comment"> */</span>
<a name="l00288"></a>00288 <a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> ICP3D_Method_Classic(
<a name="l00289"></a>00289 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m1,
<a name="l00290"></a>00290 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> *m2,
<a name="l00291"></a>00291 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> &initialEstimationPDF,
<a name="l00292"></a>00292 <a class="code" href="structmrpt_1_1slam_1_1_c_i_c_p_1_1_t_return_info.html" title="The ICP algorithm return information.">TReturnInfo</a> &outInfo );
<a name="l00293"></a>00293
<a name="l00294"></a>00294
<a name="l00295"></a>00295 };
<a name="l00296"></a>00296
<a name="l00297"></a>00297 } <span class="comment">// End of namespace</span>
<a name="l00298"></a>00298 } <span class="comment">// End of namespace</span>
<a name="l00299"></a>00299
<a name="l00300"></a>00300 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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