You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
137 lines
3.1 KiB
C++
137 lines
3.1 KiB
C++
/** @file
|
|
* @brief Representation of 3D scan matching with ICP
|
|
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
*/
|
|
|
|
#ifndef __ICP6D_H__
|
|
#define __ICP6D_H__
|
|
|
|
#include <vector>
|
|
using std::vector;
|
|
|
|
#include "newmat/newmat.h"
|
|
//using namespace NEWMAT;
|
|
|
|
#include "slam6d/scan.h"
|
|
#include "slam6d/icp6Dminimizer.h"
|
|
#include "slam6d/pairingMode.h"
|
|
|
|
/**
|
|
* @brief Representation of 3D scan matching with ICP.
|
|
*
|
|
* Manages the matching of 3D scans.
|
|
* Important values, such as maximal matching distance,
|
|
* maximal number of iterations, etc.
|
|
* are specified in the constructor.
|
|
*/
|
|
class icp6D {
|
|
|
|
public:
|
|
icp6D(icp6Dminimizer *my_icp6Dminimizer,
|
|
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,
|
|
bool cuda_enabled = false,
|
|
bool cad_matching = false);
|
|
|
|
/**
|
|
* Destructor (empty, but needed, because virtual)
|
|
*/
|
|
virtual ~icp6D() {};
|
|
|
|
void doICP(vector <Scan *> allScans, PairingMode pairing_mode = CLOSEST_POINT);
|
|
virtual int match(Scan* PreviousScan, Scan* CurrentScan, PairingMode pairing_mode = CLOSEST_POINT);
|
|
void covarianceEuler(Scan *scan1, Scan *scan2, NEWMAT::Matrix *C);
|
|
void covarianceQuat(Scan *scan1, Scan *scan2, NEWMAT::Matrix *C);
|
|
double Point_Point_Error(Scan* PreviousScan, Scan* CurrentScan, double max_dist_match, unsigned int *nrp=0);
|
|
|
|
inline int get_rnd();
|
|
inline bool get_meta();
|
|
inline int get_anim();
|
|
inline int get_nns_method();
|
|
inline void set_anim(int anim);
|
|
inline double get_max_dist_match2();
|
|
inline void set_max_dist_match2(double max_dist_match2);
|
|
inline void set_max_num_iterations(int max_num_iterations);
|
|
inline void set_cad_matching (bool cad_matching);
|
|
inline bool get_cad_matching (void);
|
|
|
|
protected:
|
|
|
|
/**
|
|
* suppress output to cout
|
|
*/
|
|
bool quiet;
|
|
|
|
/**
|
|
* take every rnd point for matching
|
|
*/
|
|
int rnd;
|
|
|
|
/**
|
|
* extrapolate odometry
|
|
*/
|
|
bool eP;
|
|
|
|
/**
|
|
* match against all scans (= meta scan), or against the last scan only
|
|
*/
|
|
bool meta;
|
|
|
|
/**
|
|
* specifies which NNS method should be used
|
|
*/
|
|
int nns_method;
|
|
|
|
/**
|
|
* specifies if the ANN trees have to be built
|
|
*/
|
|
bool cuda_enabled;
|
|
|
|
/**
|
|
* the maximal distance (^2 !!!) for matching
|
|
*/
|
|
double max_dist_match2;
|
|
|
|
/**
|
|
* the maximal number of iterations
|
|
*/
|
|
int max_num_iterations;
|
|
|
|
/**
|
|
* write anim'th animation frame
|
|
*/
|
|
int anim;
|
|
|
|
/**
|
|
* epsilon for stopping ICP algorithm ( convergence criterium )
|
|
*/
|
|
double epsilonICP;
|
|
|
|
/**
|
|
* ptr to ICP error function minimizer functor
|
|
*/
|
|
icp6Dminimizer *my_icp6Dminimizer;
|
|
|
|
/**
|
|
* Maximum number of points in all scans
|
|
*/
|
|
unsigned int max_scn_size; //FIXME -> update with metascan
|
|
|
|
/**
|
|
* determines if CAD models are matched against one scan
|
|
*/
|
|
bool cad_matching;
|
|
};
|
|
|
|
#include "icp6D.icc"
|
|
|
|
#endif
|