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/*************************************************************
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  Generalized-ICP 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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