<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; left:-2.1em; margin-bottom:0px; margin-top:0px; } li.menu { list-style-type: none; position:relative; #left:-0.5em; } #sidebar { position: absolute; left:0px; padding:2em; top:0em; width:12em;} #content { position: absolute; left:12em; top:0em; padding-left:3em; padding-right:3em; padding-bottom:2em; margin-top:1em; margin-right:2em; } div.box { background-color:#EEE; border: 1px solid #000; padding: 0.5ex 0.4em 0.5ex 0.6em; margin:1em; } div.title { font-weight:bold; background-color:#eee; margin-bottom:2px;} div.topbar { position: absolute; top:0px; left:9em; margin:1em; } </style> <TITLE>Player Manual</TITLE> </HEAD> <body> <div id="sidebar"> <h2 style="text-align:center;"> <a href="index.html"> <img width=140 src="http://playerstage.sourceforge.net/images/player_button_v3.png" alt="Player logo"><br></a> </h2> <div class="box"> <div class=title>Player</div> <ul class=menu> <li class=menu><a href="index.html">Frontpage</a> <li class=menu><a href="modules.html">Contents</a> </ul> </div> <div class="box"> <div class=title>User</div> <ul class=menu> <li class=menu><a href="install.html">Installation</a> <li class=menu><a href="start.html">Quick start</a> <li class=menu><a href="supported_hardware.html">Supported devices</a> <li class=menu><a href="group__tutorials.html">Tutorials</a> <li class=menu><a href="group__utils.html">Utilities</a> <li class=menu><a href="group__clientlibs.html">Client libraries</a> <li class=menu><a href="http://playerstage.sourceforge.net/wiki/Basic_FAQ">FAQ</a> <li class=menu><a href="help.html">Help</a> </ul> </div> <div class=box> <div class="title">Developer</div> <ul class=menu> <li class=menu><a href="architecture.html">Architecture</a> <li class=menu><a href="group__libplayercore.html">libplayercore</a> <ul class=menu1> <li class=menu><a href="group__interfaces.html">interfaces</a></li> </ul> <li class=menu><a href="group__libplayerdrivers.html">libplayerdrivers</a> <ul class=menu1> <li class=menu><a href="group__drivers.html">drivers</a></li> </ul> <li class=menu><a href="group__libplayercommon.html">libplayercommon</a> <li class=menu><a href="group__libplayerutils.html">libplayerutils</a> <li class=menu><a href="group__libplayersd.html">libplayersd</a> <li class=menu><a href="group__libplayertcp.html">libplayertcp</a> <li class=menu><a href="group__libplayerxdr.html">libplayerxdr</a> <li class=menu><a href="todo.html">TODO</a> </ul> </div> <div class=box> <!-- <a href="http://sourceforge.net"><img border=0 src="http://sourceforge.net/sflogo.php?group_id=42445&type=1"></a> --> <div class="title">Online</div> <a href="http://playerstage.sourceforge.net">Homepage</a><br> <a href="http://sourceforge.net/project/showfiles.php?group_id=42445">Download</a><br> <a href="http://sourceforge.net/projects/playerstage">Project</a><br> <a href="http://sourceforge.net/tracker/?group_id=42445">Bugs</a><br> <a href="http://sourceforge.net/mail/?group_id=42445">Help</a> </div> </div> <div id="content" > <!-- Generated by Doxygen 1.7.1 --> <div class="header"> <div class="headertitle"> <h1>MbICP.h</h1> </div> </div> <div class="contents"> <div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*************************************************************************************/</span> <a name="l00002"></a>00002 <span class="comment">/* */</span> <a name="l00003"></a>00003 <span class="comment">/* File: MbICP.h */</span> <a name="l00004"></a>00004 <span class="comment">/* Authors: Luis Montesano and Javier Minguez */</span> <a name="l00005"></a>00005 <span class="comment">/* Modified: 1/3/2006 */</span> <a name="l00006"></a>00006 <span class="comment">/* */</span> <a name="l00007"></a>00007 <span class="comment">/* This library implements the: */</span> <a name="l00008"></a>00008 <span class="comment">/* */</span> <a name="l00009"></a>00009 <span class="comment">/* */</span> <a name="l00010"></a>00010 <span class="comment">/* J. Minguez, L. Montesano, and F. Lamiraux, "Metric-based iterative */</span> <a name="l00011"></a>00011 <span class="comment">/* closest point scan matching for sensor displacement estimation," IEEE */</span> <a name="l00012"></a>00012 <span class="comment">/* Transactions on Robotics, vol. 22, no. 5, pp. 1047 \u2013 1054, 2006. */</span> <a name="l00013"></a>00013 <span class="comment">/*************************************************************************************/</span> <a name="l00014"></a>00014 <span class="comment">/*</span> <a name="l00015"></a>00015 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span> <a name="l00016"></a>00016 <span class="comment"> * it under the terms of the GNU General Public License as published by</span> <a name="l00017"></a>00017 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span> <a name="l00018"></a>00018 <span class="comment"> * (at your option) any later version.</span> <a name="l00019"></a>00019 <span class="comment"> *</span> <a name="l00020"></a>00020 <span class="comment"> * This program is distributed in the hope that it will be useful,</span> <a name="l00021"></a>00021 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span> <a name="l00022"></a>00022 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span> <a name="l00023"></a>00023 <span class="comment"> * GNU General Public License for more details.</span> <a name="l00024"></a>00024 <span class="comment"> *</span> <a name="l00025"></a>00025 <span class="comment"> * You should have received a copy of the GNU General Public License</span> <a name="l00026"></a>00026 <span class="comment"> * along with this program; if not, write to the Free Software</span> <a name="l00027"></a>00027 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> <a name="l00028"></a>00028 <span class="comment"> *</span> <a name="l00029"></a>00029 <span class="comment"> */</span> <a name="l00030"></a>00030 <a name="l00031"></a>00031 <span class="comment">/*****************************************************************************/</span> <a name="l00032"></a>00032 <span class="comment">//</span> <a name="l00033"></a>00033 <span class="comment">// EVERYTHING IN THE INTERNATIONAL SYSTEM (METERS AND RADIANS)</span> <a name="l00034"></a>00034 <span class="comment">//</span> <a name="l00035"></a>00035 <span class="comment">/*****************************************************************************/</span> <a name="l00036"></a>00036 <a name="l00037"></a>00037 <span class="preprocessor">#ifndef MbICP</span> <a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define MbICP</span> <a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">#include "TData.h"</span> <a name="l00040"></a>00040 <a name="l00041"></a>00041 <span class="preprocessor">#ifdef __cplusplus</span> <a name="l00042"></a>00042 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> { <a name="l00043"></a>00043 <span class="preprocessor">#endif</span> <a name="l00044"></a>00044 <span class="preprocessor"></span> <a name="l00045"></a>00045 <a name="l00046"></a>00046 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00047"></a>00047 <span class="comment">// DEFINES</span> <a name="l00048"></a>00048 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00049"></a>00049 <a name="l00050"></a>00050 <span class="comment">/*</span> <a name="l00051"></a>00051 <span class="comment">#define MAXLASERPOINTS 361</span> <a name="l00052"></a>00052 <span class="comment">*/</span> <a name="l00053"></a>00053 <a name="l00054"></a>00054 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00055"></a>00055 <span class="comment">// GENERIC TYPES</span> <a name="l00056"></a>00056 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00057"></a>00057 <a name="l00058"></a>00058 <span class="comment">/*typedef struct {</span> <a name="l00059"></a>00059 <span class="comment"> float x;</span> <a name="l00060"></a>00060 <span class="comment"> float y;</span> <a name="l00061"></a>00061 <span class="comment">}Tpf;</span> <a name="l00062"></a>00062 <span class="comment"></span> <a name="l00063"></a>00063 <span class="comment">typedef struct {</span> <a name="l00064"></a>00064 <span class="comment"> float r;</span> <a name="l00065"></a>00065 <span class="comment"> float t;</span> <a name="l00066"></a>00066 <span class="comment">}Tpfp;</span> <a name="l00067"></a>00067 <span class="comment"></span> <a name="l00068"></a>00068 <span class="comment">typedef struct {</span> <a name="l00069"></a>00069 <span class="comment"> int x;</span> <a name="l00070"></a>00070 <span class="comment"> int y;</span> <a name="l00071"></a>00071 <span class="comment">}Tpi;</span> <a name="l00072"></a>00072 <span class="comment"></span> <a name="l00073"></a>00073 <span class="comment">typedef struct {</span> <a name="l00074"></a>00074 <span class="comment"> float x;</span> <a name="l00075"></a>00075 <span class="comment"> float y;</span> <a name="l00076"></a>00076 <span class="comment"> float tita;</span> <a name="l00077"></a>00077 <span class="comment">}Tsc;</span> <a name="l00078"></a>00078 <span class="comment">*/</span> <a name="l00079"></a>00079 <a name="l00080"></a>00080 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00081"></a>00081 <span class="comment">// SPECIFIC TYPES</span> <a name="l00082"></a>00082 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00083"></a>00083 <a name="l00084"></a>00084 <a name="l00085"></a>00085 <a name="l00086"></a>00086 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00087"></a>00087 <span class="comment">// GLOBAL FUNCTIONS</span> <a name="l00088"></a>00088 <span class="comment">// ----------------------------------------------------------------------------</span> <a name="l00089"></a>00089 <a name="l00090"></a>00090 <a name="l00091"></a>00091 <span class="comment">// ************************</span> <a name="l00092"></a>00092 <span class="comment">// Function that initializes the SM parameters</span> <a name="l00093"></a>00093 <span class="comment">// ************************</span> <a name="l00094"></a>00094 <a name="l00095"></a>00095 <span class="comment">/* void InitScanMatching(float Bw, float Br,</span> <a name="l00096"></a>00096 <span class="comment"> float L, int laserStep,float MaxDistInter, float filtrado,</span> <a name="l00097"></a>00097 <span class="comment"> int MaxIter, float error_th, float exo, float eyo, float etitao, int IterSmoothConv); */</span> <a name="l00098"></a>00098 <span class="comment">// in:::</span> <a name="l00099"></a>00099 <a name="l00100"></a>00100 <span class="comment">/* --------------------- */</span> <a name="l00101"></a>00101 <span class="comment">/* --- Thresold parameters */</span> <a name="l00102"></a>00102 <span class="comment">/* --------------------- */</span> <a name="l00103"></a>00103 <span class="comment">/* Bw: maximum angle diference between points of different scans */</span> <a name="l00104"></a>00104 <span class="comment">/* Points with greater Bw cannot be correspondent (eliminate spurius asoc.) */</span> <a name="l00105"></a>00105 <span class="comment">/* This is a speed up parameter */</span> <a name="l00106"></a>00106 <span class="comment">//float Bw;</span> <a name="l00107"></a>00107 <a name="l00108"></a>00108 <span class="comment">/* Br: maximum distance difference between points of different scans */</span> <a name="l00109"></a>00109 <span class="comment">/* Points with greater Br cannot be correspondent (eliminate spurius asoc.) */</span> <a name="l00110"></a>00110 <span class="comment">//float Br;</span> <a name="l00111"></a>00111 <a name="l00112"></a>00112 <span class="comment">/* --------------------- */</span> <a name="l00113"></a>00113 <span class="comment">/* --- Inner parameters */</span> <a name="l00114"></a>00114 <span class="comment">/* --------------------- */</span> <a name="l00115"></a>00115 <span class="comment">/* L: value of the metric */</span> <a name="l00116"></a>00116 <span class="comment">/* When L tends to infinity you are using the standart ICP */</span> <a name="l00117"></a>00117 <span class="comment">/* When L tends to 0 you use the metric (more importance to rotation) */</span> <a name="l00118"></a>00118 <span class="comment">//float L;</span> <a name="l00119"></a>00119 <a name="l00120"></a>00120 <span class="comment">/* laserStep: selects points of each scan with an step laserStep */</span> <a name="l00121"></a>00121 <span class="comment">/* When laserStep=1 uses all the points of the scans */</span> <a name="l00122"></a>00122 <span class="comment">/* When laserStep=2 uses one each two ... */</span> <a name="l00123"></a>00123 <span class="comment">/* This is an speed up parameter */</span> <a name="l00124"></a>00124 <span class="comment">//int laserStep;</span> <a name="l00125"></a>00125 <a name="l00126"></a>00126 <span class="comment">/* ProjectionFilter: */</span> <a name="l00127"></a>00127 <span class="comment">/* Eliminate the points that cannot be seen given the two scans (see Lu&Millios 97) */</span> <a name="l00128"></a>00128 <span class="comment">/* It works well for angles < 45 \circ*/</span> <a name="l00129"></a>00129 <span class="comment">/* 1 : activates the filter */</span> <a name="l00130"></a>00130 <span class="comment">/* 0 : desactivates the filter */</span> <a name="l00131"></a>00131 <span class="comment">// int ProjectionFilter;</span> <a name="l00132"></a>00132 <a name="l00133"></a>00133 <span class="comment">/* MaxDistInter: maximum distance to interpolate between points in the ref scan */</span> <a name="l00134"></a>00134 <span class="comment">/* Consecutive points with less Euclidean distance than MaxDistInter are considered to be a segment */</span> <a name="l00135"></a>00135 <span class="comment">//float MaxDistInter;</span> <a name="l00136"></a>00136 <a name="l00137"></a>00137 <span class="comment">/* filter: in [0,1] sets the % of asociations NOT considered spurious */</span> <a name="l00138"></a>00138 <span class="comment">/* E.g. if filter=0.9 you use 90% of the associations */</span> <a name="l00139"></a>00139 <span class="comment">/* The associations are ordered by distance and the (1-filter) with greater distance are not used */</span> <a name="l00140"></a>00140 <span class="comment">/* This type of filtering is called "trimmed-ICP" */</span> <a name="l00141"></a>00141 <span class="comment">//float filter;</span> <a name="l00142"></a>00142 <a name="l00143"></a>00143 <span class="comment">/* AsocError: in [0,1] */</span> <a name="l00144"></a>00144 <span class="comment">/* One way to check if the algorithm diverges if to supervise if the number of associatios goes below a thresold */</span> <a name="l00145"></a>00145 <span class="comment">/* When the number of associations is below AsocError, the main function will return error in associations step */</span> <a name="l00146"></a>00146 <span class="comment">// float AsocError;</span> <a name="l00147"></a>00147 <a name="l00148"></a>00148 <span class="comment">/* --------------------- */</span> <a name="l00149"></a>00149 <span class="comment">/* --- Exit parameters */</span> <a name="l00150"></a>00150 <span class="comment">/* --------------------- */</span> <a name="l00151"></a>00151 <span class="comment">/* MaxIter: sets the maximum number of iterations for the algorithm to exit */</span> <a name="l00152"></a>00152 <span class="comment">/* The more iterations, the more chance you give the algorithm to be more accurate */</span> <a name="l00153"></a>00153 <span class="comment">//int MaxIter;</span> <a name="l00154"></a>00154 <a name="l00155"></a>00155 <span class="comment">/* errorRatio: in [0,1] sets the maximum error ratio between iterations to exit */</span> <a name="l00156"></a>00156 <span class="comment">/* In iteration K, let be errorK the residual of the minimization */</span> <a name="l00157"></a>00157 <span class="comment">/* Error_th=(errorK-1/errorK). When error_th tends to 1 more precise is the solution of the scan matching */</span> <a name="l00158"></a>00158 <span class="comment">//float error_th;</span> <a name="l00159"></a>00159 <a name="l00160"></a>00160 <span class="comment">/* errx_out,erry_out, errt_out: minimum error of the asociations to exit */</span> <a name="l00161"></a>00161 <span class="comment">/* In each iteration, the error is the residual of the minimization in each component */</span> <a name="l00162"></a>00162 <span class="comment">/* The condition is (errorKx<errx_out && errorKx<erry_out && errorKx<errt_out) */</span> <a name="l00163"></a>00163 <span class="comment">/* When errorK tends to 0 the more precise is the solution of the scan matching */</span> <a name="l00164"></a>00164 <span class="comment">//float errx_out,erry_out, errt_out;</span> <a name="l00165"></a>00165 <a name="l00166"></a>00166 <span class="comment">/* IterSmoothConv: number of consecutive iterations that satisfity the error criteria (the two above criteria) */</span> <a name="l00167"></a>00167 <span class="comment">/* (error_th) OR (errorx_out && errory_out && errt_out) */</span> <a name="l00168"></a>00168 <span class="comment">/* With this parameter >1 avoids random solutions and estabilices the algorithm */</span> <a name="l00169"></a>00169 <span class="comment">//int IterSmoothConv;</span> <a name="l00170"></a>00170 <a name="l00171"></a>00171 <a name="l00172"></a>00172 <a name="l00173"></a>00173 <span class="keywordtype">void</span> Init_MbICP_ScanMatching( <a name="l00174"></a>00174 <span class="keywordtype">float</span> max_laser_range, <a name="l00175"></a>00175 <span class="keywordtype">float</span> Bw, <a name="l00176"></a>00176 <span class="keywordtype">float</span> Br, <a name="l00177"></a>00177 <span class="keywordtype">float</span> L, <a name="l00178"></a>00178 <span class="keywordtype">int</span> laserStep, <a name="l00179"></a>00179 <span class="keywordtype">float</span> MaxDistInter, <a name="l00180"></a>00180 <span class="keywordtype">float</span> filter, <a name="l00181"></a>00181 <span class="keywordtype">int</span> ProjectionFilter, <a name="l00182"></a>00182 <span class="keywordtype">float</span> AsocError, <a name="l00183"></a>00183 <span class="keywordtype">int</span> MaxIter, <a name="l00184"></a>00184 <span class="keywordtype">float</span> errorRatio, <a name="l00185"></a>00185 <span class="keywordtype">float</span> errx_out, <a name="l00186"></a>00186 <span class="keywordtype">float</span> erry_out, <a name="l00187"></a>00187 <span class="keywordtype">float</span> errt_out, <a name="l00188"></a>00188 <span class="keywordtype">int</span> IterSmoothConv); <a name="l00189"></a>00189 <a name="l00190"></a>00190 <span class="comment">// -------------------------------------------------------------</span> <a name="l00191"></a>00191 <a name="l00192"></a>00192 <span class="comment">// ************************</span> <a name="l00193"></a>00193 <span class="comment">// Function that does the scan matching</span> <a name="l00194"></a>00194 <span class="comment">// ************************</span> <a name="l00195"></a>00195 <a name="l00196"></a>00196 <span class="comment">/* int MbICPmatcher(Tpfp *laserK, Tpfp *laserK1,</span> <a name="l00197"></a>00197 <span class="comment"> Tsc *sensorMotion, Tsc *solution); */</span> <a name="l00198"></a>00198 <a name="l00199"></a>00199 <span class="comment">// in:::</span> <a name="l00200"></a>00200 <span class="comment">// laserK: is the reference scan in polar coordinates (max. num points is MAXLASERPOINTS)</span> <a name="l00201"></a>00201 <span class="comment">// laserK1: is the new scan in polar coordinates (max. num points is MAXLASERPOINTS)</span> <a name="l00202"></a>00202 <span class="comment">// sensorMotion: initial SENSOR motion estimation from location K to location K1</span> <a name="l00203"></a>00203 <span class="comment">// solution: SENSOR motion solution from location K to location K1</span> <a name="l00204"></a>00204 <span class="comment">// out:::</span> <a name="l00205"></a>00205 <span class="comment">// 1 : Everything OK in less that the Maximum number of iterations</span> <a name="l00206"></a>00206 <span class="comment">// 2 : Everything OK but reached the Maximum number of iterations</span> <a name="l00207"></a>00207 <span class="comment">// -1: Failure in the association step</span> <a name="l00208"></a>00208 <span class="comment">// -2: Failure in the minimization step</span> <a name="l00209"></a>00209 <a name="l00210"></a>00210 <span class="keywordtype">int</span> MbICPmatcher(<a class="code" href="structTpfp.html">Tpfp</a> *laserK, <a class="code" href="structTpfp.html">Tpfp</a> *laserK1, <a name="l00211"></a>00211 <a class="code" href="structTsc.html">Tsc</a> *sensorMotion, <a class="code" href="structTsc.html">Tsc</a> *solution); <a name="l00212"></a>00212 <a name="l00213"></a>00213 <span class="preprocessor">#ifdef __cplusplus</span> <a name="l00214"></a>00214 <span class="preprocessor"></span>} <a name="l00215"></a>00215 <span class="preprocessor">#endif</span> <a name="l00216"></a>00216 <span class="preprocessor"></span> <a name="l00217"></a>00217 <span class="preprocessor">#endif</span> </pre></div></div> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>