135 lines
2.9 KiB
Text
135 lines
2.9 KiB
Text
/** @file
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* @brief Representation of 3D scan matching with ICP
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* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
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*/
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#ifndef __ICP6D_H__
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#define __ICP6D_H__
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#include <vector>
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using std::vector;
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#include "newmat/newmat.h"
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//using namespace NEWMAT;
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#include "slam6d/scan.h"
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#include "slam6d/icp6Dminimizer.h"
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/**
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* @brief Representation of 3D scan matching with ICP.
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*
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* Manages the matching of 3D scans.
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* Important values, such as maximal matching distance,
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* maximal number of iterations, etc.
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* are specified in the constructor.
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*/
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class icp6D {
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public:
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icp6D(icp6Dminimizer *my_icp6Dminimizer,
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double max_dist_match = 25.0,
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int max_num_iterations = 50,
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bool quiet = false,
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bool meta = false,
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int rnd = 1,
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bool eP = true,
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int anim = -1,
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double epsilonICP = 0.0000001,
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int nns_method = simpleKD,
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bool cuda_enabled = false,
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bool cad_matching = false);
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/**
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* Destructor (empty, but needed, because virtual)
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*/
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virtual ~icp6D() {};
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void doICP(vector <Scan *> allScans);
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virtual int match(Scan* PreviousScan, Scan* CurrentScan);
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void covarianceEuler(Scan *scan1, Scan *scan2, NEWMAT::Matrix *C);
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void covarianceQuat(Scan *scan1, Scan *scan2, NEWMAT::Matrix *C);
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double Point_Point_Error(Scan* PreviousScan, Scan* CurrentScan, double max_dist_match, unsigned int *nrp=0);
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inline int get_rnd();
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inline bool get_meta();
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inline int get_anim();
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inline int get_nns_method();
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inline void set_anim(int anim);
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inline double get_max_dist_match2();
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inline void set_max_dist_match2(double max_dist_match2);
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inline void set_max_num_iterations(int max_num_iterations);
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inline void set_cad_matching (bool cad_matching);
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inline bool get_cad_matching (void);
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protected:
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/**
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* suppress output to cout
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*/
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bool quiet;
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/**
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* take every rnd point for matching
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*/
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int rnd;
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/**
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* extrapolate odometry
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*/
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bool eP;
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/**
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* match against all scans (= meta scan), or against the last scan only
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*/
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bool meta;
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/**
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* specifies which NNS method should be used
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*/
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int nns_method;
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/**
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* specifies if the ANN trees have to be built
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*/
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bool cuda_enabled;
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/**
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* the maximal distance (^2 !!!) for matching
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*/
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double max_dist_match2;
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/**
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* the maximal number of iterations
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*/
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int max_num_iterations;
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/**
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* write anim'th animation frame
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*/
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int anim;
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/**
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* epsilon for stopping ICP algorithm ( convergence criterium )
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*/
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double epsilonICP;
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/**
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* ptr to ICP error function minimizer functor
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*/
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icp6Dminimizer *my_icp6Dminimizer;
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/**
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* Maximum number of points in all scans
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*/
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unsigned int max_scn_size; //FIXME -> update with metascan
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/**
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* determines if CAD models are matched against one scan
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*/
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bool cad_matching;
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};
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#include "icp6D.icc"
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#endif
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