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.
127 lines
3.8 KiB
C++
127 lines
3.8 KiB
C++
/*
|
|
* elch6Deuler implementation
|
|
*
|
|
* Copyright (C) Jochen Sprickerhof
|
|
*
|
|
* Released under the GPL version 3.
|
|
*
|
|
*/
|
|
|
|
/**
|
|
* @file ELCH implementation using Euler angles
|
|
* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
*/
|
|
|
|
|
|
#include "slam6d/elch6Deuler.h"
|
|
|
|
#include "slam6d/metaScan.h"
|
|
#include "slam6d/lum6Deuler.h"
|
|
|
|
#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 Euler angles
|
|
* 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 elch6Deuler::close_loop(const vector <Scan *> &allScans, int first, int last, graph_t &g)
|
|
{
|
|
int n = num_vertices(g);
|
|
graph_t grb[6];
|
|
Matrix C(6, 6);
|
|
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);
|
|
lum6DEuler::covarianceEuler(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 < 6; j++) {
|
|
add_edge(from, to, fabs(C(j + 1, j + 1)), grb[j]);
|
|
}
|
|
}
|
|
|
|
double *weights[6];
|
|
for(int i = 0; i < 6; 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 < 6; j++) {
|
|
weights[j][i] = 0.0;
|
|
}
|
|
}
|
|
|
|
double delta[6];
|
|
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_rPosTheta()[0];
|
|
delta[4] = allScans[last]->get_rPosTheta()[1];
|
|
delta[5] = allScans[last]->get_rPosTheta()[2];
|
|
|
|
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_rPosTheta()[0] - delta[3];
|
|
delta[4] = allScans[last]->get_rPosTheta()[1] - delta[4];
|
|
delta[5] = allScans[last]->get_rPosTheta()[2] - delta[5];
|
|
|
|
if(!quiet) {
|
|
cout << "Delta: " << delta[0] << " " << delta[1] << " " << delta[2] << " " << delta[3] << " " << delta[4] << " " << delta[5] << endl;
|
|
}
|
|
|
|
double rPos[3], rPosTheta[3];
|
|
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]);
|
|
rPosTheta[0] = allScans[i]->get_rPosTheta()[0] + delta[3] * (weights[3][i] - weights[3][0]);
|
|
rPosTheta[1] = allScans[i]->get_rPosTheta()[1] + delta[4] * (weights[4][i] - weights[4][0]);
|
|
rPosTheta[2] = allScans[i]->get_rPosTheta()[2] + delta[5] * (weights[5][i] - weights[5][0]);
|
|
|
|
allScans[i]->transformToEuler(rPos, rPosTheta, Scan::ELCH, i == n-1 ? 2 : 1);
|
|
}
|
|
|
|
for(int i = 0; i < 6; i++) {
|
|
delete [] weights[i];
|
|
}
|
|
|
|
}
|