3dpcp/.svn/pristine/04/041a53376b72c5c27abc0393eeebff57eacab4f0.svn-base

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2012-09-16 12:33:11 +00:00
/*
* elch6DunitQuat implementation
*
* Copyright (C) Jochen Sprickerhof
*
* Released under the GPL version 3.
*
*/
/**
* @file ELCH implementation using unit Quaternions
* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
*/
#include "slam6d/elch6DunitQuat.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 unit Quaternion
* 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 elch6DunitQuat::close_loop(const vector <Scan *> &allScans, int first, int last, graph_t &g)
{
int n = num_vertices(g);
graph_t grb[4];
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 < 3; j++) {
add_edge(from, to, abs(C(j + 1, j + 1)), grb[j]);
}
add_edge(from, to, abs(C(4, 4)) + abs(C(5, 5)) + abs(C(6, 6)) + abs(C(7, 7)), grb[3]);
}
double *weights[4];
for(int i = 0; i < 4; 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);
//save poses bevor ICP
double pOld1[7], pOld2[7], pOld3[7];
pOld1[0] = allScans[last]->get_rPos()[0];
pOld1[1] = allScans[last]->get_rPos()[1];
pOld1[2] = allScans[last]->get_rPos()[2];
pOld1[3] = allScans[last]->get_rPosQuat()[0];
pOld1[4] = allScans[last]->get_rPosQuat()[1];
pOld1[5] = allScans[last]->get_rPosQuat()[2];
pOld1[6] = allScans[last]->get_rPosQuat()[3];
pOld2[0] = allScans[last - 1]->get_rPos()[0];
pOld2[1] = allScans[last - 1]->get_rPos()[1];
pOld2[2] = allScans[last - 1]->get_rPos()[2];
pOld2[3] = allScans[last - 1]->get_rPosQuat()[0];
pOld2[4] = allScans[last - 1]->get_rPosQuat()[1];
pOld2[5] = allScans[last - 1]->get_rPosQuat()[2];
pOld2[6] = allScans[last - 1]->get_rPosQuat()[3];
pOld3[0] = allScans[last - 2]->get_rPos()[0];
pOld3[1] = allScans[last - 2]->get_rPos()[1];
pOld3[2] = allScans[last - 2]->get_rPos()[2];
pOld3[3] = allScans[last - 2]->get_rPosQuat()[0];
pOld3[4] = allScans[last - 2]->get_rPosQuat()[1];
pOld3[5] = allScans[last - 2]->get_rPosQuat()[2];
pOld3[6] = allScans[last - 2]->get_rPosQuat()[3];
double delta[3];
delta[0] = allScans[last]->get_rPos()[0];
delta[1] = allScans[last]->get_rPos()[1];
delta[2] = allScans[last]->get_rPos()[2];
double q1[4];
q1[0] = allScans[last]->get_rPosQuat()[0];
q1[1] = -allScans[last]->get_rPosQuat()[1];
q1[2] = -allScans[last]->get_rPosQuat()[2];
q1[3] = -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];
double q2[4];
q2[0] = allScans[last]->get_rPosQuat()[0];
q2[1] = allScans[last]->get_rPosQuat()[1];
q2[2] = allScans[last]->get_rPosQuat()[2];
q2[3] = allScans[last]->get_rPosQuat()[3];
double deltaQ[4];
QMult(q2, q1, deltaQ); // q3 = q2*q1^-1
if(!quiet) {
double axisangle[4];
axisangle[0] = deltaQ[0];
axisangle[1] = deltaQ[1];
axisangle[2] = deltaQ[2];
axisangle[3] = deltaQ[3];
QuatToAA(axisangle);
cout << "Delta: " << delta[0] << " " << delta[1] << " " << delta[2] << " " << axisangle[0] << " " << axisangle[1] << " " << axisangle[2] << " " << axisangle[3] << endl;
}
// restore poses after ICP matching
allScans[last]->transformToQuat(pOld1, &pOld1[3], Scan::INVALID, -1);
allScans[last - 1]->transformToQuat(pOld2, &pOld2[3], Scan::INVALID, -1);
allScans[last - 2]->transformToQuat(pOld3, &pOld3[3], Scan::INVALID, -1);
//compute inverse rotation of Scan 0
double scan0Pdelta[4], scan0Q[4];
QMult(deltaQ, allScans[0]->get_rPosQuat(), scan0Pdelta);
scan0Q[0] = (1 - weights[3][0]) * allScans[0]->get_rPosQuat()[0] + scan0Pdelta[0] * weights[3][0];
scan0Q[1] = -1 * ((1 - weights[3][0]) * allScans[0]->get_rPosQuat()[1] + scan0Pdelta[1] * weights[3][0]);
scan0Q[2] = -1 * ((1 - weights[3][0]) * allScans[0]->get_rPosQuat()[2] + scan0Pdelta[2] * weights[3][0]);
scan0Q[3] = -1 * ((1 - weights[3][0]) * allScans[0]->get_rPosQuat()[3] + scan0Pdelta[3] * weights[3][0]);
Normalize4(scan0Q);
QMult(allScans[0]->get_rPosQuat(), scan0Q, scan0Pdelta);
double rPos[3], rPosQuat[4], tmpquat[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]);
QMult(deltaQ, allScans[i]->get_rPosQuat(), rPosQuat);
tmpquat[0] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[0] + rPosQuat[0] * weights[3][i];
tmpquat[1] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[1] + rPosQuat[1] * weights[3][i];
tmpquat[2] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[2] + rPosQuat[2] * weights[3][i];
tmpquat[3] = (1 - weights[3][i]) * allScans[i]->get_rPosQuat()[3] + rPosQuat[3] * weights[3][i];
Normalize4(tmpquat);
QMult(scan0Pdelta, tmpquat, rPosQuat);
Normalize4(rPosQuat);
allScans[i]->transformToQuat(rPos, rPosQuat, Scan::ELCH, i == n-1 ? 2 : 1);
}
for(int i = 0; i < 4; i++) {
delete [] weights[i];
}
}