MbICP2.h
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00001 /*************************************************************************************/
00002 /*                                                                                   */
00003 /*  File:          MbICP.h                                                               */
00004 /*  Authors:       Luis Montesano and Javier Minguez                                 */
00005 /*  Modified:      1/3/2006                                                          */
00006 /*                                                                                   */
00007 /*  This library implements the:                                                     */
00008 /*                                                                                                                                                           */
00009 /*      J. Minguez, F. Lamiraux and L. Montesano                                                                                 */
00010 /*      Metric-Based Iterative Closest Point,                                                                                    */
00011 /*  Scan Matching for Mobile Robot Displacement Estimation                                                       */
00012 /*      IEEE Transactions on Roboticics (2006)                                                                               */
00013 /*                                                                                   */
00014 /*************************************************************************************/
00015 
00016 
00017 /* **************************************************************************************** */
00018 //      This file contains inner information of the MbICP that you want to see from the outside
00019 /* **************************************************************************************** */
00020 
00021 #ifndef MbICP2
00022 #define MbICP2
00023 
00024 #include "TData.h"
00025 
00026 #ifdef __cplusplus
00027 extern "C" {
00028 #endif
00029 
00030 
00031 // ************************
00032 // Scan inner matching parameters
00033 typedef struct{
00034         /* --------------------- */
00035         /* --- Thresold parameters */
00036         /* Bw: maximum angle diference between points of different scans */
00037         /* Points with greater Bw cannot be correspondent (eliminate spurius asoc.) */
00038         /* This is a speed up parameter */
00039         float Bw;
00040 
00041         /* Br: maximum distance difference between points of different scans */
00042         /* Points with greater Br cannot be correspondent (eliminate spurius asoc.) */
00043         float Br;
00044 
00045         /* --------------------- */
00046         /* --- Inner parameters */
00047 
00048         /* L: value of the metric */
00049         /* When L tends to infinity you are using the standart ICP */
00050     /* When L tends to 0 you use the metric (more importance to rotation */
00051         float LMET;
00052 
00053         /* laserStep: selects points of each scan with an step laserStep  */
00054         /* When laserStep=1 uses all the points of the scans */
00055         /* When laserStep=2 uses one each two ... */
00056         /* This is an speed up parameter */
00057         int laserStep;
00058 
00059         /* ProjectionFilter: */
00060         /* Eliminate the points that cannot be seen given the two scans (see Lu&Millios 97) */
00061         /* It works well for angles < 45 \circ*/
00062         /* 1 : activates the filter */
00063         /* 0 : desactivates the filter */
00064         int ProjectionFilter;
00065 
00066         /* MaxDistInter: maximum distance to interpolate between points in the ref scan */
00067         /* Consecutive points with less Euclidean distance than MaxDistInter are considered to be a segment */
00068         float MaxDistInter;
00069 
00070         /* filtrado: in [0,1] sets the % of asociations NOT considered spurious */
00071         float filter;
00072 
00073         /* AsocError: in [0,1] */
00074         /* One way to check if the algorithm diverges if to supervise if the number of associatios goes below a thresold */
00075         /* When the number of associations is below AsocError, the main function will return error in associations step */
00076         float AsocError;
00077 
00078         /* --------------------- */
00079         /* --- Exit parameters */
00080         /* MaxIter: sets the maximum number of iterations for the algorithm to exit */
00081         /* More iterations more chance you give the algorithm to be more accurate   */
00082         int MaxIter;
00083 
00084         /* error_th: in [0,1] sets the maximum error ratio between iterations to exit */
00085         /* In each iteration, the error is the residual of the minimization */
00086         /* When error_th tends to 1 more precise is the solution of the scan matching */
00087         float error_th;
00088 
00089         /* errx_out,erry_out, errt_out: minimum error of the asociations to exit */
00090         /* In each iteration, the error is the residual of the minimization in each component */
00091         /* The condition is (lower than errx_out && lower than erry_out && lower than errt_out */
00092         /* When error_XXX tend to 0 more precise is the solution of the scan matching */
00093         float errx_out,erry_out, errt_out;
00094 
00095         /* IterSmoothConv: number of consecutive iterations that satisfity the error criteria */
00096         /* (error_th) OR (errorx_out && errory_out && errt_out) */
00097         /* With this parameter >1 avoids random solutions */
00098         int IterSmoothConv;
00099 
00100 }TSMparams;
00101 
00102 
00103 // ---------------------------------------------------------------
00104 // ---------------------------------------------------------------
00105 // Variables definition
00106 // ---------------------------------------------------------------
00107 // ---------------------------------------------------------------
00108 
00109 
00110 // ************************
00111 // Static structure to initialize the SM parameters
00112 extern TSMparams params;
00113 
00114 // Original points to be aligned
00115 extern Tscan ptosRef;
00116 extern Tscan ptosNew;
00117 
00118 // At each step::
00119 
00120 // Those points removed by the projection filter (see Lu&Millios -- IDC)
00121 extern Tscan ptosNoView; // Only with ProjectionFilter=1;
00122 
00123 // Structure of the associations before filtering
00124 extern TAsoc cp_associations[MAXLASERPOINTS];
00125 extern int cntAssociationsT;
00126 
00127 // Filtered Associations
00128 extern TAsoc cp_associationsTemp[MAXLASERPOINTS];
00129 extern int cntAssociationsTemp;
00130 
00131 // Current motion estimation
00132 extern Tsc motion2;
00133 
00134 #ifdef __cplusplus
00135 }
00136 #endif
00137 
00138 #endif


csm
Author(s): Andrea Censi
autogenerated on Mon Jan 16 2017 03:48:29