3dpcp/.svn/pristine/0a/0accdf7f52cef02d0b444335cd50f7502d273c88.svn-base

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2012-09-16 12:33:11 +00:00
/*
* elch6Dquat implementation
*
* Copyright (C) Jochen Sprickerhof
*
* Released under the GPL version 3.
*
*/
/**
* @file ELCH implementation using Quaternions
* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
*/
#include "slam6d/elch6Dquat.h"
#include "slam6d/metaScan.h"
#include "slam6d/lum6Dquat.h"
#include "slam6d/globals.icc"
#include <iostream>
using std::cout;
using std::cerr;
using std::endl;
#include <fstream>
using std::ofstream;
#include <boost/graph/graph_traits.hpp>
using boost::graph_traits;
using namespace NEWMAT;
#ifdef _MSC_VER
#define tie tr1::tie
#endif
/**
* ELCH loop closing function using Quaternions
* matches first and last scan of a loop with ICP
* distributes the error
*
* @param allScans all laser scans
* @param first index of first laser scan in the loop
* @param last indes of last laser scan in the loop
* @param g graph for loop optimization
*/
void elch6Dquat::close_loop(const vector <Scan *> &allScans, int first, int last, graph_t &g)
{
int n = num_vertices(g);
graph_t grb[7];
Matrix C(7, 7);
graph_traits <graph_t>::edge_iterator ei, ei_end;
for(tie(ei, ei_end) = edges(g); ei != ei_end; ei++) {
int from = source(*ei, g);
int to = target(*ei, g);
lum6DQuat::covarianceQuat(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C);
C = C.i();
for(int j = 0; j < 7; j++) {
add_edge(from, to, fabs(C(j + 1, j + 1)), grb[j]);
}
}
double *weights[7];
for(int i = 0; i < 7; i++) {
weights[i] = new double[n];
graph_balancer(grb[i], first, last, weights[i]);
}
vector <Scan *> meta_start;
meta_start.push_back(allScans[first]);
meta_start.push_back(allScans[first + 1]);
meta_start.push_back(allScans[first + 2]);
MetaScan *start = new MetaScan(meta_start, false, false);
vector <Scan *> meta_end;
meta_end.push_back(allScans[last - 2]);
meta_end.push_back(allScans[last - 1]);
meta_end.push_back(allScans[last]);
MetaScan *end = new MetaScan(meta_end, false, false);
for(int i = last - 2; i <= last; i++) {
for(int j = 0; j < 7; j++) {
weights[j][i] = 0.0;
}
}
double delta[7];
delta[0] = allScans[last]->get_rPos()[0];
delta[1] = allScans[last]->get_rPos()[1];
delta[2] = allScans[last]->get_rPos()[2];
delta[3] = allScans[last]->get_rPosQuat()[0];
delta[4] = allScans[last]->get_rPosQuat()[1];
delta[5] = allScans[last]->get_rPosQuat()[2];
delta[6] = allScans[last]->get_rPosQuat()[3];
my_icp6D->match(start, end);
delete start;
delete end;
delta[0] = allScans[last]->get_rPos()[0] - delta[0];
delta[1] = allScans[last]->get_rPos()[1] - delta[1];
delta[2] = allScans[last]->get_rPos()[2] - delta[2];
delta[3] = allScans[last]->get_rPosQuat()[0] - delta[3];
delta[4] = allScans[last]->get_rPosQuat()[1] - delta[4];
delta[5] = allScans[last]->get_rPosQuat()[2] - delta[5];
delta[6] = allScans[last]->get_rPosQuat()[3] - delta[6];
if(!quiet) {
double axisangle[4];
axisangle[0] = delta[3];
axisangle[1] = delta[4];
axisangle[2] = delta[5];
axisangle[3] = delta[6];
QuatToAA(axisangle);
cout << "Delta: " << delta[0] << " " << delta[1] << " " << delta[2] << " " << axisangle[0] << " " << axisangle[1] << " " << axisangle[2] << " " << axisangle[3] << endl;
}
double rPos[3], rPosQuat[4];
for(int i = 1; i < n; i++) {
rPos[0] = allScans[i]->get_rPos()[0] + delta[0] * (weights[0][i] - weights[0][0]);
rPos[1] = allScans[i]->get_rPos()[1] + delta[1] * (weights[1][i] - weights[1][0]);
rPos[2] = allScans[i]->get_rPos()[2] + delta[2] * (weights[2][i] - weights[2][0]);
rPosQuat[0] = allScans[i]->get_rPosQuat()[0] + delta[3] * (weights[3][i] - weights[3][0]);
rPosQuat[1] = allScans[i]->get_rPosQuat()[1] + delta[4] * (weights[4][i] - weights[4][0]);
rPosQuat[2] = allScans[i]->get_rPosQuat()[2] + delta[5] * (weights[5][i] - weights[5][0]);
rPosQuat[3] = allScans[i]->get_rPosQuat()[3] + delta[6] * (weights[6][i] - weights[6][0]);
Normalize4(rPosQuat);
allScans[i]->transformToQuat(rPos, rPosQuat, Scan::ELCH, i == n-1 ? 2 : 1);
}
for(int i = 0; i < 7; i++) {
delete [] weights[i];
}
}