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player-doc-3.0.2-5.fc14.noarch.rpm

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<h1>icp.h</h1>  </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">Copyright (c) 2004, Tim Bailey</span>
<a name="l00003"></a>00003 <span class="comment">All rights reserved.</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment">Redistribution and use in source and binary forms, with or without</span>
<a name="l00006"></a>00006 <span class="comment">modification, are permitted provided that the following conditions are met:</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment">    * Redistributions of source code must retain the above copyright notice,</span>
<a name="l00009"></a>00009 <span class="comment">      this list of conditions and the following disclaimer.</span>
<a name="l00010"></a>00010 <span class="comment">    * Redistributions in binary form must reproduce the above copyright notice,</span>
<a name="l00011"></a>00011 <span class="comment">      this list of conditions and the following disclaimer in the documentation</span>
<a name="l00012"></a>00012 <span class="comment">      and/or other materials provided with the distribution.</span>
<a name="l00013"></a>00013 <span class="comment">    * Neither the name of the Player Project nor the names of its contributors</span>
<a name="l00014"></a>00014 <span class="comment">      may be used to endorse or promote products derived from this software</span>
<a name="l00015"></a>00015 <span class="comment">      without specific prior written permission.</span>
<a name="l00016"></a>00016 <span class="comment"></span>
<a name="l00017"></a>00017 <span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span>
<a name="l00018"></a>00018 <span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span>
<a name="l00019"></a>00019 <span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span>
<a name="l00020"></a>00020 <span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR</span>
<a name="l00021"></a>00021 <span class="comment">ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span>
<a name="l00022"></a>00022 <span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00023"></a>00023 <span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON</span>
<a name="l00024"></a>00024 <span class="comment">ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00025"></a>00025 <span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span>
<a name="l00026"></a>00026 <span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00027"></a>00027 <span class="comment">*/</span>
<a name="l00028"></a>00028 
<a name="l00029"></a>00029 <span class="comment">/* Iterated closest point (ICP) algorithm.</span>
<a name="l00030"></a>00030 <span class="comment"> * </span>
<a name="l00031"></a>00031 <span class="comment"> * This is a very simple implementation of ICP, with one simple extension where the</span>
<a name="l00032"></a>00032 <span class="comment"> * association may be chosen as an interpolation between two nearest neighbours rather</span>
<a name="l00033"></a>00033 <span class="comment"> * than just point-to-point with the nearest neighbour.</span>
<a name="l00034"></a>00034 <span class="comment"> *</span>
<a name="l00035"></a>00035 <span class="comment"> * A lot of extensions to this basic algorithm are possible. For example,</span>
<a name="l00036"></a>00036 <span class="comment"> *      1. Record at each iteration the set of NN associations for each observation. </span>
<a name="l00037"></a>00037 <span class="comment"> *      If these do not change, then ICP has converged completely.</span>
<a name="l00038"></a>00038 <span class="comment"> *      </span>
<a name="l00039"></a>00039 <span class="comment"> *      2. Various speed ups given in the following papers:</span>
<a name="l00040"></a>00040 <span class="comment"> *</span>
<a name="l00041"></a>00041 <span class="comment"> *      (a) P.J. Besl and N.D. McKay. A method for registration of 3-D shapes. IEEE </span>
<a name="l00042"></a>00042 <span class="comment"> *      Transactions on Pattern Analysis and Machine Intelligence, 14(2):239256, 1992.</span>
<a name="l00043"></a>00043 <span class="comment"> *</span>
<a name="l00044"></a>00044 <span class="comment"> *      (b) F. Lu and E. Milios. Robot pose estimation in unknown environments by matching</span>
<a name="l00045"></a>00045 <span class="comment"> *      2D range scans. Journal of Intelligent and Robotic Systems, 18:249275, 1997.</span>
<a name="l00046"></a>00046 <span class="comment"> *</span>
<a name="l00047"></a>00047 <span class="comment"> *      (c) S. Rusinkiewicz and M. Levoy. Efficient variants of the ICP algorithm. In Third</span>
<a name="l00048"></a>00048 <span class="comment"> *      International Conference on 3D Digital Imaging and Modeling, pages 145152, 2001.</span>
<a name="l00049"></a>00049 <span class="comment"> *</span>
<a name="l00050"></a>00050 <span class="comment"> *      3. Methods for estimating the error introduced by point-wise correspondence in </span>
<a name="l00051"></a>00051 <span class="comment"> *      the paper (b) above and also:</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> *      S.T. P?ster, K.L. Kriechbaum, S.I. Roumeliotis, and J.W. Burdick. Weighted range</span>
<a name="l00054"></a>00054 <span class="comment"> *      sensor matching algorithms for mobile robot displacement estimation. In IEEE </span>
<a name="l00055"></a>00055 <span class="comment"> *      International Conference on Robotics and Automation, 2002.</span>
<a name="l00056"></a>00056 <span class="comment"> *</span>
<a name="l00057"></a>00057 <span class="comment"> * Tim Bailey 2004.</span>
<a name="l00058"></a>00058 <span class="comment"> */</span>
<a name="l00059"></a>00059 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00060"></a>00060 <span class="preprocessor">#include &quot;geometry2D.h&quot;</span>
<a name="l00061"></a>00061 <span class="preprocessor">#include &quot;nn.h&quot;</span>
<a name="l00062"></a>00062 <span class="preprocessor">#include &lt;memory&gt;</span>
<a name="l00063"></a>00063 <span class="keyword">using namespace </span>std;
<a name="l00064"></a>00064 <span class="keyword">namespace </span>Geom2D {
<a name="l00065"></a>00065 
<a name="l00066"></a><a class="code" href="classGeom2D_1_1ICP.html">00066</a> <span class="keyword">class </span><a class="code" href="classGeom2D_1_1ICP.html">ICP</a> {
<a name="l00067"></a>00067 <span class="keyword">public</span>:
<a name="l00068"></a>00068         <a class="code" href="classGeom2D_1_1ICP.html">ICP</a>();
<a name="l00069"></a>00069         ~<a class="code" href="classGeom2D_1_1ICP.html">ICP</a>();
<a name="l00070"></a>00070         <a class="code" href="structGeom2D_1_1Pose.html">Pose</a> align(std::vector&lt;Point&gt; , std::vector&lt;Point&gt;,<a class="code" href="structGeom2D_1_1Pose.html">Pose</a> , <span class="keywordtype">double</span> , <span class="keywordtype">int</span> , <span class="keywordtype">bool</span> );
<a name="l00071"></a>00071         <span class="keyword">const</span> std::vector&lt;Point&gt; get_ref_points() { <span class="keywordflow">return</span> b; }
<a name="l00072"></a>00072         <span class="keyword">const</span> std::vector&lt;Point&gt; get_obs_points() { <span class="keywordflow">return</span> a; }
<a name="l00073"></a>00073         <span class="keywordtype">bool</span> warning_misalign;
<a name="l00074"></a>00074 <span class="keyword">private</span>:
<a name="l00075"></a>00075         vector&lt;Point&gt;   ref;
<a name="l00076"></a>00076         <a class="code" href="classGeom2D_1_1SweepSearch.html">SweepSearch</a> * nn;
<a name="l00077"></a>00077         vector&lt;Point&gt; a;
<a name="l00078"></a>00078         vector&lt;Point&gt; b;
<a name="l00079"></a>00079         vector&lt;int&gt; index;
<a name="l00080"></a>00080 };
<a name="l00081"></a>00081 
<a name="l00082"></a>00082 } <span class="comment">// namespace Geom2D </span>
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Last updated 12 September 2005 21:38:45
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