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<h1>MbICP2.h</h1> </div>
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<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">/* J. Minguez, F. Lamiraux and L. Montesano */</span>
<a name="l00010"></a>00010 <span class="comment">/* Metric-Based Iterative Closest Point, */</span>
<a name="l00011"></a>00011 <span class="comment">/* Scan Matching for Mobile Robot Displacement Estimation */</span>
<a name="l00012"></a>00012 <span class="comment">/* IEEE Transactions on Roboticics (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">/*</span>
<a name="l00016"></a>00016 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00017"></a>00017 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00018"></a>00018 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00019"></a>00019 <span class="comment"> * (at your option) any later version.</span>
<a name="l00020"></a>00020 <span class="comment"> *</span>
<a name="l00021"></a>00021 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00022"></a>00022 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00023"></a>00023 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00024"></a>00024 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00025"></a>00025 <span class="comment"> *</span>
<a name="l00026"></a>00026 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00027"></a>00027 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00028"></a>00028 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00029"></a>00029 <span class="comment"> *</span>
<a name="l00030"></a>00030 <span class="comment"> */</span>
<a name="l00031"></a>00031
<a name="l00032"></a>00032 <span class="comment">/* **************************************************************************************** */</span>
<a name="l00033"></a>00033 <span class="comment">// This file contains inner information of the MbICP that you want to see from the outside</span>
<a name="l00034"></a>00034 <span class="comment">/* **************************************************************************************** */</span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="preprocessor">#ifndef MbICP2</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#define MbICP2</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span>
<a name="l00039"></a>00039 <span class="comment">//#include "MbICP.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "TData.h"</span>
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
<a name="l00044"></a>00044 <span class="preprocessor">#endif</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span>
<a name="l00046"></a>00046 <span class="comment">// ---------------------------------------------------------------</span>
<a name="l00047"></a>00047 <span class="comment">// ---------------------------------------------------------------</span>
<a name="l00048"></a>00048 <span class="comment">// Types definition</span>
<a name="l00049"></a>00049 <span class="comment">// ---------------------------------------------------------------</span>
<a name="l00050"></a>00050 <span class="comment">// ---------------------------------------------------------------</span>
<a name="l00051"></a>00051
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <span class="comment">// ************************</span>
<a name="l00054"></a>00054 <span class="comment">// Associations information</span>
<a name="l00055"></a>00055
<a name="l00056"></a>00056 <span class="comment">/*</span>
<a name="l00057"></a>00057 <span class="comment">typedef struct{</span>
<a name="l00058"></a>00058 <span class="comment"> float rx,ry,nx,ny,dist; // Point (nx,ny), static corr (rx,ry), dist</span>
<a name="l00059"></a>00059 <span class="comment"> int numDyn; // Number of dynamic associations</span>
<a name="l00060"></a>00060 <span class="comment"> float unknown; // Unknown weight</span>
<a name="l00061"></a>00061 <span class="comment"> int index; // Index within the original scan</span>
<a name="l00062"></a>00062 <span class="comment"> int L,R;</span>
<a name="l00063"></a>00063 <span class="comment">}TAsoc;</span>
<a name="l00064"></a>00064 <span class="comment">*/</span>
<a name="l00065"></a>00065
<a name="l00066"></a>00066 <span class="comment">// ************************</span>
<a name="l00067"></a>00067 <span class="comment">// Scan inner matching parameters</span>
<a name="l00068"></a><a class="code" href="structTSMparams.html">00068</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>{
<a name="l00069"></a>00069 <span class="comment">/* --------------------- */</span>
<a name="l00070"></a>00070 <span class="comment">/* --- Thresold parameters */</span>
<a name="l00071"></a>00071 <span class="comment">/* Bw: maximum angle diference between points of different scans */</span>
<a name="l00072"></a>00072 <span class="comment">/* Points with greater Bw cannot be correspondent (eliminate spurius asoc.) */</span>
<a name="l00073"></a>00073 <span class="comment">/* This is a speed up parameter */</span>
<a name="l00074"></a>00074 <span class="keywordtype">float</span> Bw;
<a name="l00075"></a>00075
<a name="l00076"></a>00076 <span class="comment">/* Br: maximum distance difference between points of different scans */</span>
<a name="l00077"></a>00077 <span class="comment">/* Points with greater Br cannot be correspondent (eliminate spurius asoc.) */</span>
<a name="l00078"></a>00078 <span class="keywordtype">float</span> Br;
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="comment">/* --------------------- */</span>
<a name="l00081"></a>00081 <span class="comment">/* --- Inner parameters */</span>
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="comment">/* L: value of the metric */</span>
<a name="l00084"></a>00084 <span class="comment">/* When L tends to infinity you are using the standart ICP */</span>
<a name="l00085"></a>00085 <span class="comment">/* When L tends to 0 you use the metric (more importance to rotation */</span>
<a name="l00086"></a>00086 <span class="keywordtype">float</span> LMET;
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="comment">/* laserStep: selects points of each scan with an step laserStep */</span>
<a name="l00089"></a>00089 <span class="comment">/* When laserStep=1 uses all the points of the scans */</span>
<a name="l00090"></a>00090 <span class="comment">/* When laserStep=2 uses one each two ... */</span>
<a name="l00091"></a>00091 <span class="comment">/* This is an speed up parameter */</span>
<a name="l00092"></a>00092 <span class="keywordtype">int</span> laserStep;
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="comment">/* ProjectionFilter: */</span>
<a name="l00095"></a>00095 <span class="comment">/* Eliminate the points that cannot be seen given the two scans (see Lu&Millios 97) */</span>
<a name="l00096"></a>00096 <span class="comment">/* It works well for angles < 45 \circ*/</span>
<a name="l00097"></a>00097 <span class="comment">/* 1 : activates the filter */</span>
<a name="l00098"></a>00098 <span class="comment">/* 0 : desactivates the filter */</span>
<a name="l00099"></a>00099 <span class="keywordtype">int</span> ProjectionFilter;
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="comment">/* MaxDistInter: maximum distance to interpolate between points in the ref scan */</span>
<a name="l00102"></a>00102 <span class="comment">/* Consecutive points with less Euclidean distance than MaxDistInter are considered to be a segment */</span>
<a name="l00103"></a>00103 <span class="keywordtype">float</span> MaxDistInter;
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <span class="comment">/* filtrado: in [0,1] sets the % of asociations NOT considered spurious */</span>
<a name="l00106"></a>00106 <span class="keywordtype">float</span> filter;
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <span class="comment">/* AsocError: in [0,1] */</span>
<a name="l00109"></a>00109 <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="l00110"></a>00110 <span class="comment">/* When the number of associations is below AsocError, the main function will return error in associations step */</span>
<a name="l00111"></a>00111 <span class="keywordtype">float</span> AsocError;
<a name="l00112"></a>00112
<a name="l00113"></a>00113 <span class="comment">/* --------------------- */</span>
<a name="l00114"></a>00114 <span class="comment">/* --- Exit parameters */</span>
<a name="l00115"></a>00115 <span class="comment">/* MaxIter: sets the maximum number of iterations for the algorithm to exit */</span>
<a name="l00116"></a>00116 <span class="comment">/* More iterations more chance you give the algorithm to be more accurate */</span>
<a name="l00117"></a>00117 <span class="keywordtype">int</span> MaxIter;
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="comment">/* error_th: in [0,1] sets the maximum error ratio between iterations to exit */</span>
<a name="l00120"></a>00120 <span class="comment">/* In each iteration, the error is the residual of the minimization */</span>
<a name="l00121"></a>00121 <span class="comment">/* When error_th tends to 1 more precise is the solution of the scan matching */</span>
<a name="l00122"></a>00122 <span class="keywordtype">float</span> error_th;
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="comment">/* errx_out,erry_out, errt_out: minimum error of the asociations to exit */</span>
<a name="l00125"></a>00125 <span class="comment">/* In each iteration, the error is the residual of the minimization in each component */</span>
<a name="l00126"></a>00126 <span class="comment">/* The condition is (lower than errx_out && lower than erry_out && lower than errt_out */</span>
<a name="l00127"></a>00127 <span class="comment">/* When error_XXX tend to 0 more precise is the solution of the scan matching */</span>
<a name="l00128"></a>00128 <span class="keywordtype">float</span> errx_out,erry_out, errt_out;
<a name="l00129"></a>00129
<a name="l00130"></a>00130 <span class="comment">/* IterSmoothConv: number of consecutive iterations that satisfity the error criteria */</span>
<a name="l00131"></a>00131 <span class="comment">/* (error_th) OR (errorx_out && errory_out && errt_out) */</span>
<a name="l00132"></a>00132 <span class="comment">/* With this parameter >1 avoids random solutions */</span>
<a name="l00133"></a>00133 <span class="keywordtype">int</span> IterSmoothConv;
<a name="l00134"></a>00134
<a name="l00135"></a>00135 }<a class="code" href="structTSMparams.html">TSMparams</a>;
<a name="l00136"></a>00136
<a name="l00137"></a>00137 <span class="comment">// ************************</span>
<a name="l00138"></a>00138 <span class="comment">// Structure to store the scans in polar and cartesian coordinates</span>
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="comment">/*</span>
<a name="l00141"></a>00141 <span class="comment">typedef struct {</span>
<a name="l00142"></a>00142 <span class="comment"> int numPuntos;</span>
<a name="l00143"></a>00143 <span class="comment"> Tpf laserC[MAXLASERPOINTS]; // Cartesian coordinates</span>
<a name="l00144"></a>00144 <span class="comment"> Tpfp laserP[MAXLASERPOINTS]; // Polar coordinates</span>
<a name="l00145"></a>00145 <span class="comment">}Tscan;</span>
<a name="l00146"></a>00146 <span class="comment">*/</span>
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <span class="comment">// ---------------------------------------------------------------</span>
<a name="l00149"></a>00149 <span class="comment">// ---------------------------------------------------------------</span>
<a name="l00150"></a>00150 <span class="comment">// Variables definition</span>
<a name="l00151"></a>00151 <span class="comment">// ---------------------------------------------------------------</span>
<a name="l00152"></a>00152 <span class="comment">// ---------------------------------------------------------------</span>
<a name="l00153"></a>00153
<a name="l00154"></a>00154
<a name="l00155"></a>00155 <span class="comment">// ************************</span>
<a name="l00156"></a>00156 <span class="comment">// Static structure to initialize the SM parameters</span>
<a name="l00157"></a>00157 <span class="keyword">extern</span> <a class="code" href="structTSMparams.html">TSMparams</a> params;
<a name="l00158"></a>00158
<a name="l00159"></a>00159 <span class="comment">// Original points to be aligned</span>
<a name="l00160"></a>00160 <span class="keyword">extern</span> <a class="code" href="structTscan.html">Tscan</a> ptosRef;
<a name="l00161"></a>00161 <span class="keyword">extern</span> <a class="code" href="structTscan.html">Tscan</a> ptosNew;
<a name="l00162"></a>00162
<a name="l00163"></a>00163 <span class="comment">// At each step::</span>
<a name="l00164"></a>00164
<a name="l00165"></a>00165 <span class="comment">// Those points removed by the projection filter (see Lu&Millios -- IDC)</span>
<a name="l00166"></a>00166 <span class="keyword">extern</span> <a class="code" href="structTscan.html">Tscan</a> ptosNoView; <span class="comment">// Only with ProjectionFilter=1;</span>
<a name="l00167"></a>00167
<a name="l00168"></a>00168 <span class="comment">// Structure of the associations before filtering</span>
<a name="l00169"></a>00169 <span class="keyword">extern</span> <a class="code" href="structTAsoc.html">TAsoc</a> cp_associations[MAXLASERPOINTS];
<a name="l00170"></a>00170 <span class="keyword">extern</span> <span class="keywordtype">int</span> cntAssociationsT;
<a name="l00171"></a>00171
<a name="l00172"></a>00172 <span class="comment">// Filtered Associations</span>
<a name="l00173"></a>00173 <span class="keyword">extern</span> <a class="code" href="structTAsoc.html">TAsoc</a> cp_associationsTemp[MAXLASERPOINTS];
<a name="l00174"></a>00174 <span class="keyword">extern</span> <span class="keywordtype">int</span> cntAssociationsTemp;
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="comment">// Current motion estimation</span>
<a name="l00177"></a>00177 <span class="keyword">extern</span> <a class="code" href="structTsc.html">Tsc</a> motion2;
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00180"></a>00180 <span class="preprocessor"></span>}
<a name="l00181"></a>00181 <span class="preprocessor">#endif</span>
<a name="l00182"></a>00182 <span class="preprocessor"></span>
<a name="l00183"></a>00183 <span class="preprocessor">#endif</span>
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