Struct RelocalizationICP_SE2

• Defined in File relocalization.h

Nested Relationships

Nested Types

• Struct RelocalizationICP_SE2::Input

• Struct Input::InputLattice

• Struct Input::OutputLattice

• Struct RelocalizationICP_SE2::Output

• Struct RelocalizationICP_SE2::ProgressFeedback

Struct Documentation

struct RelocalizationICP_SE2

Takes a global and a local metric map, a SE(2) ROI, and tries to match the local map in the global map by running ICP from all initial guesses defined by a regular SE(2) lattice, returning the result as a SE(3) hashed lattice.

This method is based on mp2p_icp ICP pipelines, refer to the project documentation.

Public Static Functions

static Output run(const Input &in)

struct Input

Public Functions

Input() = default

Public Members

mp2p_icp::metric_map_t reference_map

mp2p_icp::metric_map_t local_map

std::vector<mp2p_icp::ICP::Ptr> icp_pipeline

If provided more than one, several ICP runs will be triggered in parallel threads.

mp2p_icp::Parameters icp_parameters

double icp_minimum_quality = 0.50

InputLattice initial_guess_lattice

OutputLattice output_lattice

std::function<void(const ProgressFeedback&)> on_progress_callback

struct InputLattice

Public Members

mrpt::math::TPose2D corner_min

mrpt::math::TPose2D corner_max

double resolution_xy = 1.0

double resolution_phi = mrpt::DEG2RAD(40.0)

struct OutputLattice

Public Members

double resolution_xyz = 0.10

double resolution_yaw = mrpt::DEG2RAD(5.0)

double resolution_pitch = mrpt::DEG2RAD(5.0)

double resolution_roll = mrpt::DEG2RAD(5.0)

struct Output

Public Functions

Output() = default

Public Members

mola::HashedSetSE3 found_poses

double time_cost = .0

[s]

struct ProgressFeedback

Public Functions

ProgressFeedback() = default

Public Members

size_t current_cell = 0

size_t total_cells = 0

mrpt::math::TPose3D cell_init_guess

double obtained_icp_quality = .0