GridMapAligner: code clean up and add bibliographic reference

doc/source/bibliography.bib

@@ -179,4 +179,15 @@ @inproceedings{wurm2010octomap
   volume={2},
   pages={3},
   year={2010}
+}
+
+@article{blanco2013robust,
+  title={A robust, multi-hypothesis approach to matching occupancy grid maps},
+  author={Blanco, Jose-Luis and Gonz{\'a}lez-Jim{\'e}nez, Javier and Fern{\'a}ndez-Madrigal, Juan-Antonio},
+  journal={Robotica},
+  volume={31},
+  number={5},
+  pages={687--701},
+  year={2013},
+  publisher={Cambridge University Press}
 }

libs/slam/include/mrpt/slam/CGridMapAligner.h

@@ -29,8 +29,7 @@ namespace mrpt::slam
  * 2D+orientation grid of possible 2D poses.
  *   - amRobustMatch: Detection of features + RANSAC matching
  *   - amModifiedRANSAC: Detection of features + modified multi-hypothesis
- * RANSAC matching as described in was reported in the paper
- * https://www.mrpt.org/Paper%3AOccupancy_Grid_Matching
+ * RANSAC matching as described in \cite blanco2013robust
  *
  * See CGridMapAligner::Align for more instructions.
  *
@@ -66,7 +65,7 @@ class CGridMapAligner : public mrpt::slam::CMetricMapsAlignmentAlgorithm
 			std::ostream& out) const override;	// See base docs
 
 		/** The aligner method: */
-		TAlignerMethod methodSelection{CGridMapAligner::amModifiedRANSAC};
+		TAlignerMethod methodSelection = CGridMapAligner::amModifiedRANSAC;
 
 		/** The feature descriptor to use: 0=detector already has descriptor, 1=
 		 * SIFT, 2=SURF, 4=Spin images, 8=Polar images, 16=log-polar images */
@@ -89,22 +88,23 @@ class CGridMapAligner : public mrpt::slam::CMetricMapsAlignmentAlgorithm
 		/** [amRobustMatch method only] RANSAC-step options:
 		 * \sa CICP::robustRigidTransformation
 		 */
-		float ransac_mahalanobisDistanceThreshold{6.0f};
+		float ransac_mahalanobisDistanceThreshold = 6.0f;
 
 		/** [amModifiedRANSAC method only] The quantile used for chi-square
 		 * thresholding (default=0.99) */
-		double ransac_chi2_quantile{0.99};
+		double ransac_chi2_quantile = 0.99;
 
 		/** Probability of having a good inliers (def:0,9999), used for
 		 * automatic number of iterations */
-		double ransac_prob_good_inliers{0.9999};
+		double ransac_prob_good_inliers = 0.9999999999;
+
 		/** Features extraction from grid map: How many features to extract */
 		float featsPerSquareMeter{0.015f};
 		/** Correspondences are considered if their distances are below this
 		 * threshold (in the range [0,1]) (default=0.15). */
 		float threshold_max{0.15f};
 		/** Correspondences are considered if their distances to the best match
-		 * are below this threshold (in the range [0,1]) (default=0.15). */
+		 * are below this threshold (in the range [0,1]) (default=0.10). */
 		float threshold_delta{0.10f};
 
 		/** The minimum goodness (0-1) of the post-matching ICP to accept a
@@ -119,9 +119,7 @@ class CGridMapAligner : public mrpt::slam::CMetricMapsAlignmentAlgorithm
 		/** DEBUG - Dump all feature correspondences in a directory "grid_feats"
 		 */
 		bool save_feat_coors{false};
-		/** DEBUG - Show graphs with the details of each feature correspondences
-		 */
-		bool debug_show_corrs{false};
+
 		/** DEBUG - Save the pair of maps with all the pairings. */
 		bool debug_save_map_pairs{false};
 

libs/slam/src/slam/CGridMapAligner.cpp

@@ -196,15 +196,6 @@ CPosePDF::Ptr CGridMapAligner::AlignPDF_robustMatch(
 		const double thres_max = options.threshold_max;
 		const double thres_delta = options.threshold_delta;
 
-		// CDisplayWindowPlots::Ptr	auxWin;
-		if (options.debug_show_corrs)
-		{
-			// auxWin = CDisplayWindowPlots::Ptr( new
-			// CDisplayWindowPlots("Individual corr.") );
-			std::cerr << "Warning: options.debug_show_corrs has no effect "
-						 "since MRPT 0.9.1\n";
-		}
-
 		for (size_t idx1 = 0; idx1 < nLM1; idx1++)
 		{
 			// CVectorFloat  	corrs_indiv;
@@ -1112,7 +1103,6 @@ void CGridMapAligner::TConfigParams::dumpToTextStream(std::ostream& out) const
 	LOADABLEOPTS_DUMP_VAR(ransac_prob_good_inliers, double)
 	LOADABLEOPTS_DUMP_VAR(ransac_SOG_sigma_m, float)
 	LOADABLEOPTS_DUMP_VAR(save_feat_coors, bool)
-	LOADABLEOPTS_DUMP_VAR(debug_show_corrs, bool)
 	LOADABLEOPTS_DUMP_VAR(debug_save_map_pairs, bool)
 
 	LOADABLEOPTS_DUMP_VAR(feature_descriptor, int)
@@ -1152,7 +1142,6 @@ void CGridMapAligner::TConfigParams::loadFromConfigFile(
 		ransac_prob_good_inliers, double, iniFile, section)
 
 	MRPT_LOAD_CONFIG_VAR(save_feat_coors, bool, iniFile, section)
-	MRPT_LOAD_CONFIG_VAR(debug_show_corrs, bool, iniFile, section)
 	MRPT_LOAD_CONFIG_VAR(debug_save_map_pairs, bool, iniFile, section)
 
 	feature_descriptor = iniFile.read_enum(

python/src/mrpt/slam/COccupancyGridMapFeatureExtractor.cpp

@@ -173,7 +173,6 @@ void bind_mrpt_slam_COccupancyGridMapFeatureExtractor(std::function< pybind11::m
 			cl.def_readwrite("max_ICP_mahadist", &mrpt::slam::CGridMapAligner::TConfigParams::max_ICP_mahadist);
 			cl.def_readwrite("maxKLd_for_merge", &mrpt::slam::CGridMapAligner::TConfigParams::maxKLd_for_merge);
 			cl.def_readwrite("save_feat_coors", &mrpt::slam::CGridMapAligner::TConfigParams::save_feat_coors);
-			cl.def_readwrite("debug_show_corrs", &mrpt::slam::CGridMapAligner::TConfigParams::debug_show_corrs);
 			cl.def_readwrite("debug_save_map_pairs", &mrpt::slam::CGridMapAligner::TConfigParams::debug_save_map_pairs);
 			cl.def("loadFromConfigFile", (void (mrpt::slam::CGridMapAligner::TConfigParams::*)(const class mrpt::config::CConfigFileBase &, const std::string &)) &mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile, "C++: mrpt::slam::CGridMapAligner::TConfigParams::loadFromConfigFile(const class mrpt::config::CConfigFileBase &, const std::string &) --> void", pybind11::arg("source"), pybind11::arg("section"));
 			cl.def("assign", (class mrpt::slam::CGridMapAligner::TConfigParams & (mrpt::slam::CGridMapAligner::TConfigParams::*)(const class mrpt::slam::CGridMapAligner::TConfigParams &)) &mrpt::slam::CGridMapAligner::TConfigParams::operator=, "C++: mrpt::slam::CGridMapAligner::TConfigParams::operator=(const class mrpt::slam::CGridMapAligner::TConfigParams &) --> class mrpt::slam::CGridMapAligner::TConfigParams &", pybind11::return_value_policy::automatic, pybind11::arg(""));

python/stubs-out/mrpt/pymrpt/mrpt/slam.pyi

@@ -63,7 +63,6 @@ class CGridMapAligner(CMetricMapsAlignmentAlgorithm):
 
     class TConfigParams(mrpt.pymrpt.mrpt.config.CLoadableOptions):
         debug_save_map_pairs: bool
-        debug_show_corrs: bool
         featsPerSquareMeter: float
         feature_descriptor: mrpt.pymrpt.mrpt.vision.TDescriptorType
         feature_detector_options: mrpt.pymrpt.mrpt.vision.CFeatureExtraction.TOptions

share/mrpt/config_files/grid-matching/gridmatch_example.ini

@@ -22,7 +22,6 @@ ransac_chi2_quantile	= 0.5 				// amModifiedRANSAC method only
 
 save_feat_coors			= 0		// Dump correspondences to grid_feats
 debug_save_map_pairs	= 1		// Save the pair of maps with the best correspondences
-debug_show_corrs		= 0		// Debug output of graphs
 
 
 # All the params of the feature detectors/descriptors