NAME¶
grid-matching - Executes occupancy grid matching techniques
SYNOPSIS¶
grid-matching --match --map1=
grid1.simplemap
--map2=
grid1.simplemap [
options] grid-matching --detect-test
--map1=
grid1.simplemap [
options]
DESCRIPTION¶
grid-matching is a command-line application which takes two maps as input
and computes a Sum-Of-Gaussians (SOG) density distribution for the 2D
transformation between them, if they are found to match.
OPTIONS¶
--match Operation: match two maps
--detect-test Operation: Quality
of match with one map
--map1 arg Map #1 to align (*.simplemap)
--map2 arg Map #2 to align (*.simplemap)
--out arg
(=gridmatching_out.txt) Output file for the results
--config arg
Optional config. file with more params
--save-sog-3d Save a 3D view of
all the SOG modes
--save-sog-all Save all the map overlaps
--noise-xy arg (=0) In detect-test mode,std. noise in XY
--noise-phi arg (=0) In detect-test mode,std. noise in PHI (deg)
--Ax arg (=4) In detect-test mode, displacement in X
--Ay arg
(=2) In detect-test mode, displacement in Y
--Aphi arg (=30) In
detect-test mode, displ. in PHI (deg)
--verbose verbose output
--nologo skip the logo at startup
--help produce help message
BUGS¶
Please report bugs at
https://github.com/jlblancoc/mrpt/issues
SEE ALSO¶
The application wiki page at
http://www.mrpt.org/Applications
AUTHORS¶
grid-matching is part of the Mobile Robot Programming Toolkit (MRPT), and
was originally written by the MAPIR laboratory (University of Malaga).
This manual page was written by Jose Luis Blanco
<joseluisblancoc@gmail.com>.
COPYRIGHT¶
This program is free software; you can redistribute it and/or modify it under
the terms of the BSD License.
On Debian GNU/Linux systems, the complete text of the BSD License can be found
in `/usr/share/common-licenses/BSD'.