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/*************************************************************


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GeneralizedICP Copyright (c) 2009 Aleksandr Segal.

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All rights reserved.

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Redistribution and use in source and binary forms, with

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or without modification, are permitted provided that the

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following conditions are met:

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* Redistributions of source code must retain the above

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copyright notice, this list of conditions and the

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following disclaimer.

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* Redistributions in binary form must reproduce the above

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copyright notice, this list of conditions and the

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following disclaimer in the documentation and/or other

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materials provided with the distribution.

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* The names of the contributors may not be used to endorse

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or promote products derived from this software

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without specific prior written permission.

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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND

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CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED

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WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A

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PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

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COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,

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INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,

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PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,

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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN

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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE

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OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH

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DAMAGE.

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*************************************************************/

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#ifndef OPTIMIZE_H_

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#define OPTIMIZE_H_

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#include <ANN/ANN.h> 
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#include "gicp.h" 
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#include <vector> 
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#include <gsl/gsl_linalg.h> 
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#include <gsl/gsl_blas.h> 
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#include <gsl/gsl_multimin.h> 
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#include <gsl/gsl_multifit_nlin.h> 
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namespace dgc { 
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namespace gicp { 
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inline void print_gsl_matrix(gsl_matrix *mat, const char * name) { 
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std::cout << name << "= [";

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for(unsigned int i = 0; i < mat>size1; i++) { 
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for(unsigned int j = 0; j < mat>size2; j++) { 
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std::cout << gsl_matrix_get(mat, i, j) << " ";

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} 
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std::cout << ";" << std::endl;

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} 
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std::cout << "]" << std::endl;

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} 
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struct GICPOptData {

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GICPPointSet *p1; 
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GICPPointSet *p2; 
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ANNidx *nn_indecies; // nearest point indecies

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gicp_mat_t *M; // mahalanobis matrices for each pair

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dgc_transform_t base_t; 
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int num_matches;

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bool solve_rotation;

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}; 
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class GICPOptimizer { 
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public:

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GICPOptimizer(); 
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~GICPOptimizer(); 
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int Iterations() { return iter; } 
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const char* Status() { return gsl_strerror(status); } 
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bool Optimize(dgc_transform_t t, GICPOptData &opt_data);

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bool OptimizeLM(dgc_transform_t t, GICPOptData &opt_data);

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void SetDebug(bool d) { debug = d; } 
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void SetMaxIterations(int iter) { max_iter = iter; } 
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void PlotError(dgc_transform_t t, GICPOptData &opt_data, const char* filename); 
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private:

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static double f(const gsl_vector * x, void * params); 
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static void df(const gsl_vector * x, void * params, gsl_vector * g); 
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static void fdf(const gsl_vector * x, void * params, double * f, gsl_vector * g); 
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static void compute_dr(gsl_vector const* x, gsl_matrix const* gsl_temp_mat_r, gsl_vector *g); 
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static double mat_inner_prod(gsl_matrix const* mat1, gsl_matrix const* mat2); 
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static void apply_state(dgc_transform_t t, gsl_vector const* x); 
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gsl_multimin_fdfminimizer *gsl_minimizer; 
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gsl_vector *x; 
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int max_iter;

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int iter;

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int status;

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bool debug;

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const static int N = 6; 
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const gsl_multimin_fdfminimizer_type *T_min;

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}; 
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} 
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} 
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#endif

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