#include <math.h>
#include <string.h>
#include <gsl/gsl_matrix.h>
#include <gpc/gpc.h>
#include <egsl/egsl_macros.h>
#include "../csm_all.h"
#include "icp.h"

Include dependency graph for icp_loop.c:

Functions
int	compute_next_estimate (struct sm_params *params, const double x_old[3], double x_new[3])

int	icp_loop (struct sm_params params, const double q0, double x_new, double total_error, int valid, int iterations)

int	termination_criterion (struct sm_params params, const double delta)

Function Documentation

int compute_next_estimate	(	struct sm_params *	params,
		const double	x_old[3],
		double	x_new[3]
	)

This is the beef: computing in closed form the next estimate given the correspondences.

TODO: here we could use the estimated alpha

Incidence of the ray Note that alpha is relative to the first scan (not the world) and that pose_theta is the angle of the second scan with respect to the first, hence it's ok.

Definition at line 171 of file icp_loop.c.

int icp_loop	(	struct sm_params *	params,
		const double *	q0,
		double *	x_new,
		double *	total_error,
		int *	nvalid,
		int *	iterations
	)

This is the meat

Compute laser_sens's points in laser_ref's coordinates by roto-translating by x_old

Find correspondences (the naif or smart way)

If debug_verify_tricks, make sure that find_correspondences_tricks() and find_correspondences() return the same answer

Checks for oscillations

PLICP terminates in a finite number of steps!

Definition at line 13 of file icp_loop.c.

int termination_criterion	(	struct sm_params *	params,
		const double *	delta
	)

This termination criterium use epsilon_xy and epsilon_th. It is useless when using the point-to-line-distance; however, we put it here because one can choose to use the point-to-point distance.

Definition at line 165 of file icp_loop.c.

Functions

Function Documentation