icp_outliers.c

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#include <math.h>
 
#include "icp.h"
 
void quicksort(double *array, int begin, int end);
double hoare_selection(double *data, int start, int end, int k);
 
void visibilityTest(LDP laser_ref, const gsl_vector*u) {
 
        double theta_from_u[laser_ref->nrays];
        
        int j;
        for(j=0;j<laser_ref->nrays;j++) {
                if(!ld_valid_ray(laser_ref,j)) continue;
                theta_from_u[j] = 
                        atan2(gvg(u,1)-laser_ref->points[j].p[1],
                              gvg(u,0)-laser_ref->points[j].p[0]);
        }
        
        sm_debug("\tvisibility: Found outliers: ");
        int invalid = 0;
        for(j=1;j<laser_ref->nrays;j++) {
                if(!ld_valid_ray(laser_ref,j)||!ld_valid_ray(laser_ref,j-1)) continue;
                if(theta_from_u[j]<theta_from_u[j-1]) {
                        laser_ref->valid[j] = 0;
                        invalid ++;
                        sm_debug("%d ",j);
                }
        }
        sm_debug("\n");
}
 
 
void kill_outliers_double(struct sm_params*params) {
        double threshold = 3; /* TODO: add as configurable */
 
        LDP laser_ref  = params->laser_ref;
        LDP laser_sens = params->laser_sens;
 
        double dist2_i[laser_sens->nrays];
        double dist2_j[laser_ref->nrays];
        int j; for(j=0;j<laser_ref->nrays;j++) 
                dist2_j[j]= 1000000;
        
        int i;
        for(i=0;i<laser_sens->nrays;i++) {
                if(!ld_valid_corr(laser_sens, i)) continue;
                int j1 = laser_sens->corr[i].j1;
                dist2_i[i] = laser_sens->corr[i].dist2_j1;
                dist2_j[j1] = GSL_MIN(dist2_j[j1], dist2_i[i]);
        }
        
        int nkilled = 0;
        for(i=0;i<laser_sens->nrays;i++) {
                if(!ld_valid_corr(laser_sens, i)) continue;
                int j1 = laser_sens->corr[i].j1;
                if(dist2_i[i] > (threshold*threshold)*dist2_j[j1]) {
                        laser_sens->corr[i].valid=0;
                        nkilled ++;
                }
        }
        sm_debug("\tkill_outliers_double: killed %d correspondences\n",nkilled);
}
        
void kill_outliers_trim(struct sm_params*params,  double*total_error) {
                
        if(JJ) jj_context_enter("kill_outliers_trim");
                
        LDP laser_ref  = params->laser_ref;
        LDP laser_sens = params->laser_sens;
        
        /* dist2, indexed by k, contains the error for the k-th correspondence */
        int k = 0; 
        double dist2[laser_sens->nrays];
                
        int i;
        double dist[laser_sens->nrays];
        /* for each point in laser_sens */
        for(i=0;i<laser_sens->nrays;i++) {
                /* which has a valid correspondence */
                if(!ld_valid_corr(laser_sens, i)) { dist[i]=NAN; continue; }
                double *p_i_w = laser_sens->points_w[i].p;
                
                int j1 = laser_sens->corr[i].j1;
                int j2 = laser_sens->corr[i].j2;
                /* Compute the distance to the corresponding segment */
                dist[i]=  dist_to_segment_d(
                        laser_ref->points[j1].p, laser_ref->points[j2].p, p_i_w);
                dist2[k] = dist[i];
                k++;    
        }
        
        
        if(JJ) jj_add_int("num_valid_before", k);
        if(JJ) jj_add_double_array("dist_points", dist2, laser_sens->nrays);
        if(JJ) jj_add_double_array("dist_corr_unsorted", dist2, k);
 
#if 0   
        double dist2_copy[k]; for(i=0;i<k;i++) dist2_copy[i] = dist2[i];
#endif 
 
        /* two errors limits are defined: */
                /* In any case, we don't want more than outliers_maxPerc% */
                int order = (int)floor(k*(params->outliers_maxPerc));
                        order = GSL_MAX(0, GSL_MIN(order, k-1));
 
        /* The dists for the correspondence are sorted
           in ascending order */
                quicksort(dist2, 0, k-1);
                double error_limit1 = dist2[order];
                if(JJ) jj_add_double_array("dist_corr_sorted", dist2, k);
        
                /* Then we take a order statics (o*K) */
                /* And we say that the error must be less than alpha*dist(o*K) */
                int order2 = (int)floor(k*params->outliers_adaptive_order);
                        order2 = GSL_MAX(0, GSL_MIN(order2, k-1));
                double error_limit2 = params->outliers_adaptive_mult*dist2[order2];
        
        double error_limit = GSL_MIN(error_limit1, error_limit2);
        
#if 0
        double error_limit1_ho = hoare_selection(dist2_copy, 0, k-1, order);
        double error_limit2_ho = error_limit2;
        if((error_limit1_ho != error_limit1) || (error_limit2_ho != error_limit2)) {
                printf("%f == %f    %f  == %f\n",
                        error_limit1_ho, error_limit1, error_limit2_ho, error_limit2);
        }
#endif
 
        if(JJ) jj_add_double_array("dist_corr_sorted", dist2, k);
        if(JJ) jj_add_double("error_limit_max_perc", error_limit1);
        if(JJ) jj_add_double("error_limit_adaptive", error_limit2);
        if(JJ) jj_add_double("error_limit", error_limit);
        
        sm_debug("\ticp_outliers: maxPerc %f error_limit: fix %f adaptive %f \n",
                params->outliers_maxPerc,error_limit1,error_limit2);
 
        *total_error = 0;
        int nvalid = 0;
        for(i=0;i<laser_sens->nrays;i++) {
                if(!ld_valid_corr(laser_sens, i)) continue;
                if(dist[i] > error_limit) {
                        laser_sens->corr[i].valid = 0;
                        laser_sens->corr[i].j1 = -1;
                        laser_sens->corr[i].j2 = -1;
                } else {
                        nvalid++;
                        *total_error += dist[i];
                }
        }
        
        sm_debug("\ticp_outliers: valid %d/%d (limit: %f) mean error = %f \n",nvalid,k,error_limit,
                *total_error/nvalid);   
 
        if(JJ) jj_add_int("num_valid_after", nvalid);
        if(JJ) jj_add_double("total_error", *total_error);
        if(JJ) jj_add_double("mean_error", *total_error / nvalid);
                
        if(JJ) jj_context_exit();
}
 
 
void swap_double(double*a,double*b) {
        double t = *a; *a = *b; *b=t;
}
 
void quicksort(double *array, int begin, int end) {
        if (end > begin) {
                double pivot = array[begin];
                int l = begin + 1;
                int r = end+1;
                while(l < r) {
                        if (array[l] < pivot) {
                                l++;
                        } else {
                                r--;
                                swap_double(array+l, array+r); 
                        }
                }
                l--;
                swap_double(array+begin, array+l);
                if(l>begin)
                quicksort(array, begin, l);
                if(end>r)
                quicksort(array, r, end);
        }
}
 
#if 0
double hoare_selection(double *data, int start, int end, int k)
{
  int pivotIndex, i, j;
  float pivotValue, tmp;
 
  while(start < end) {
          //select a random pivot
        pivotIndex = start + (end-start)/2;
         pivotValue = data[pivotIndex];
                                 //sort the array into two sub arrays around the pivot value
         i = start;
         j = end;
         while(i <= j) {
                while(data[i] < pivotValue)
                  i++;
                while(data[j] > pivotValue)
                  j--;
                if(i<=j) {
                  tmp = data[i];
                  data[i] = data[j];
                  data[j] = tmp;
                  i++;
                  j--;
                }
         }
                         //continue search in left sub array
         if(j < k)
                start = i;
         if(k < i) //continue search in right sub array
                end = j;
  }
  return(data[k]);
}
 
#endif