62 lines
1.7 KiB
C
62 lines
1.7 KiB
C
|
/** @file
|
||
|
|
* @brief The 6D Lu Milios style SLAM in 6D
|
||
|
|
*
|
||
|
|
* @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany.
|
||
|
|
* @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany.
|
||
|
|
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
||
|
|
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef __LUM6D_QUAT_H__
|
||
|
|
#define __LUM6D_QUAT_H__
|
||
|
|
|
||
|
|
#include <vector>
|
||
|
|
using std::vector;
|
||
|
|
|
||
|
|
#include "graphSlam6D.h"
|
||
|
|
|
||
|
|
#include "newmat/newmatio.h"
|
||
|
|
|
||
|
|
typedef vector <PtPair> vPtPair; ///< just a typedef: vPtPair = vector of type PtPair
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
* @brief Representation of 3D scan matching with Lu/Milios in 6D.
|
||
|
|
*
|
||
|
|
* Reference: D. Borrmann, et al., Globally consistent 3D mapping
|
||
|
|
* with scan matching, Journal of Robotics and Autonomous
|
||
|
|
* Systems (2007),
|
||
|
|
*/
|
||
|
|
class lum6DQuat : public graphSlam6D {
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* Constructor (default)
|
||
|
|
*/
|
||
|
|
lum6DQuat() {};
|
||
|
|
lum6DQuat(icp6Dminimizer *my_icp6Dminimizer,
|
||
|
|
double mdm = 25.0,
|
||
|
|
double max_dist_match = 25.0,
|
||
|
|
int max_num_iterations = 50,
|
||
|
|
bool quiet = false,
|
||
|
|
bool meta = false,
|
||
|
|
int rnd = 1,
|
||
|
|
bool eP = true,
|
||
|
|
int anim = -1,
|
||
|
|
double epsilonICP = 0.0000001,
|
||
|
|
int nns_method = simpleKD,
|
||
|
|
double epsilonLUM = 0.5);
|
||
|
|
|
||
|
|
virtual ~lum6DQuat();
|
||
|
|
|
||
|
|
double doGraphSlam6D(Graph gr, vector <Scan*> MetaScan, int nrIt);
|
||
|
|
static void covarianceQuat(Scan *first, Scan *second, int nns_method,
|
||
|
|
int rnd, double max_dist_match2, NEWMAT::Matrix *C, NEWMAT::ColumnVector *CD=0);
|
||
|
|
|
||
|
|
private:
|
||
|
|
void FillGB3D(Graph *gr, NEWMAT::Matrix* G, NEWMAT::ColumnVector* B, vector<Scan*> allScans);
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif
|