172 lines
5 KiB
Text
172 lines
5 KiB
Text
/*
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* loopToro implementation
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*
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* Copyright (C) Jochen Sprickerhof
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*
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* Released under the GPL version 3.
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*
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*/
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/**
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* @file TORO wrapper
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* @author Jochen Sprickerhof. Institute of Computer Science, University of Osnabrueck, Germany.
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*/
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#include "slam6d/loopToro.h"
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#include "slam6d/metaScan.h"
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#include "slam6d/lum6Deuler.h"
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#include "slam6d/globals.icc"
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#include <fstream>
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using std::ofstream;
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using std::ifstream;
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#include <boost/graph/graph_traits.hpp>
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using boost::graph_traits;
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using namespace NEWMAT;
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/**
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* @param allScans all laser scans
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* @param first index of first laser scan in the loop
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* @param last indes of last laser scan in the loop
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* @param g graph for loop optimization
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*/
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void loopToro::close_loop(const vector <Scan *> &allScans, int first, int last, graph_t &g)
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{
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int n = num_vertices(g);
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Matrix C(6, 6);
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double invers[16], rela[16], rPos[3], rPosTheta[3], rPosQuat[4];
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ofstream outFile("toro.graph");
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for(int i = 0; i < n; i++) {
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QuatRPYEuler(allScans[i]->get_rPosQuat(), rPosTheta);
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outFile << "VERTEX3" << " " << i <<
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" " << (allScans[i]->get_rPos()[0]/100) <<
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" " << (allScans[i]->get_rPos()[1]/100) <<
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" " << (allScans[i]->get_rPos()[2]/100) <<
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" " << rPosTheta[0] <<
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" " << rPosTheta[1] <<
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" " << rPosTheta[2] << "\n";
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}
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graph_traits <graph_t>::edge_iterator ei = edges(g).first;
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int num_arcs = num_edges(g);
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int li = 0;
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#ifdef _OPENMP
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#pragma omp parallel for firstprivate(li, ei) private(invers, rela, rPos, rPosTheta, rPosQuat, C)
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#endif
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for(int i = 0; i < num_arcs; i++) {
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for(;i > li; li++, ei++) ;
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for(;i < li; li--, ei--) ;
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int from = source(*ei, g);
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int to = target(*ei, g);
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M4inv(allScans[from]->get_transMat(), invers);
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MMult(invers, allScans[to]->get_transMat(), rela);
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Matrix4ToQuat(rela, rPosQuat, rPos);
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QuatRPYEuler(rPosQuat, rPosTheta);
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lum6DEuler::covarianceEuler(allScans[from], allScans[to], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C);
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#ifdef _OPENMP
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#pragma omp critical
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#endif
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{
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outFile << "EDGE3" << " " << from << " " << to << " " <<
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(rPos[0]/100) << " " <<
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(rPos[1]/100) << " " <<
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(rPos[2]/100) << " " <<
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rPosTheta[0] << " " <<
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rPosTheta[1] << " " <<
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rPosTheta[2] << " ";
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for(int i = 1; i < 7; i++)
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for(int j = i; j < 7; j++)
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outFile << C(i, j) << " ";
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outFile << endl;
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}
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}
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vector <Scan *> meta_start;
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for(int i = first - 2; i <= first + 2; i++) {
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if(i >= 0) {
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meta_start.push_back(allScans[i]);
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}
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}
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MetaScan *start = new MetaScan(meta_start, false, false);
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//static size of metascan
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int offset_last_start = 2;
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int offset_last_end = 0;
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vector <Scan *> meta_end;
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for(int i = last - offset_last_start; i <= last + offset_last_end && i < n; i++) {
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meta_end.push_back(allScans[i]);
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}
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MetaScan *end = new MetaScan(meta_end, false, false);
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my_icp6D->match(start, end);
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delete start;
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delete end;
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M4inv(allScans[last]->get_transMat(), invers);
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MMult(invers, allScans[first]->get_transMat(), rela);
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Matrix4ToQuat(rela, rPosQuat, rPos);
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QuatRPYEuler(rPosQuat, rPosTheta);
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lum6DEuler::covarianceEuler(allScans[first], allScans[last], my_icp6D->get_nns_method(), my_icp6D->get_rnd(), my_icp6D->get_max_dist_match2(), &C);
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outFile << "EDGE3" << " " << last << " " << first << " " <<
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(rPos[0]/100) << " " <<
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(rPos[1]/100) << " " <<
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(rPos[2]/100) << " " <<
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rPosTheta[0] << " " <<
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rPosTheta[1] << " " <<
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rPosTheta[2] << " " <<
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C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << C(1, 4) << " " << C(1, 5) << " " << C(1, 6) << " " <<
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C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << C(1, 4) << " " << C(1, 5) << " " <<
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C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " << C(1, 4) << " " <<
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C(1, 1) << " " << C(1, 2) << " " << C(1, 3) << " " <<
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C(1, 1) << " " << C(1, 2) << " " <<
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C(1, 1) << " " << "\n";
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outFile.close();
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system("sort toro.graph > toro2.graph && mv toro2.graph toro.graph && ./bin/toro3d -i 300 toro.graph");
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ifstream inFile("toro-treeopt-final.graph");
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string tag;
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int id;
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double dd;
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double rPosN[3], rPosThetaN[3];
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while(inFile) {
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inFile >> tag;
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if(tag == "VERTEX3") {
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inFile >> id;
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if(id == n-1) {
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inFile >> rPosN[0] >> rPosN[1] >> rPosN[2] >> rPosThetaN[0] >> rPosThetaN[1] >> rPosThetaN[2];
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rPosN[0] *= 100;
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rPosN[1] *= 100;
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rPosN[2] *= 100;
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} else {
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inFile >> rPos[0] >> rPos[1] >> rPos[2] >> rPosTheta[0] >> rPosTheta[1] >> rPosTheta[2];
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rPos[0] *= 100;
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rPos[1] *= 100;
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rPos[2] *= 100;
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RPYEulerQuat(rPosTheta, rPosQuat);
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if(id != 0) {
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allScans[id]->transformToQuat(rPos, rPosQuat, Scan::LOOPTORO, 1);
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}
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}
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}
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else if(tag == "EDGE3") {
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inFile >> id >> id;
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for(int i=0; i < 22; i++) {
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inFile >> dd;
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}
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}
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}
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RPYEulerQuat(rPosThetaN, rPosQuat);
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allScans[n-1]->transformToQuat(rPosN, rPosQuat, Scan::LOOPTORO, 2);
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inFile.close();
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}
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