#include <gpc/gpc.h>
#include "../csm_all.h"

Include dependency graph for icp.h:

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Functions
void	compute_covariance_exact (LDP laser_ref, LDP laser_sens, const gsl_vector x, val cov0_x, val dx_dy1, val dx_dy2)
int	compute_next_estimate (struct sm_params *params, const double x_old[3], double x_new[3])
void	debug_correspondences (struct sm_params *params)
void	find_correspondences (struct sm_params *params)
void	find_correspondences_tricks (struct sm_params *params)
int	icp_loop (struct sm_params params, const double q0, double x_new, double total_error, int nvalid, int iterations)
void	kill_outliers_double (struct sm_params *params)
void	kill_outliers_trim (struct sm_params params, double total_error)
void	ld_invalid_if_outside (LDP ld, double min_reading, double max_reading)
void	sm_icp (struct sm_params params, struct sm_result res)
void	swap_double (double a, double b)
int	termination_criterion (struct sm_params params, const double delta)
void	visibilityTest (LDP ld, const gsl_vector *x_old)

Function Documentation

void compute_covariance_exact	(	LDP	laser_ref,
		LDP	laser_sens,
		const gsl_vector *	x,
		val *	cov0_x,
		val *	dx_dy1,
		val *	dx_dy2
	)

Definition at line 13 of file icp_covariance.c.

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.

void debug_correspondences ( struct sm_params * params )

Checks that find_correspondences_tricks and find_correspondences behave the same. Exit(-1) on error.

Do the test

Definition at line 4 of file icp_debug.c.

void find_correspondences ( struct sm_params * params )

Naif algorithm

Definition at line 30 of file icp_corr_dumb.c.

void find_correspondences_tricks ( struct sm_params * params )

Smart algorithm

Search domain for j1

Current best match

and his distance

If last match was succesful, then start at that index + 1

Definition at line 56 of file icp_corr_tricks.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.

void kill_outliers_double ( struct sm_params * params )

If multiple points in laser_sens match to the same point in laser_ref, only the nearest one wins.

Uses: laser_sens->corr, laser_sens->p Modifies: laser_sens->corr

Definition at line 42 of file icp_outliers.c.

void kill_outliers_trim	(	struct sm_params *	params,
		double *	total_error
	)

Trims the corrispondences using an adaptive algorithm

Assumes cartesian coordinates computed. (points and points_w)

So, to disable this: outliers_maxPerc = 1 outliers_adaptive_order = 1

Definition at line 83 of file icp_outliers.c.

void ld_invalid_if_outside	(	LDP	ld,
		double	min_reading,
		double	max_reading
	)

Marks a ray invalid if reading is outside range [min_reading, max_reading].

Definition at line 19 of file icp.c.

void sm_icp	(	struct sm_params *	params,
		struct sm_result *	res
	)

This sets the stage.

Mark as invalid the rays outside of (min_reading, max_reading]

Definition at line 29 of file icp.c.

void swap_double	(	double *	a,
		double *	b
	)

Definition at line 181 of file icp_outliers.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.

void visibilityTest	(	LDP	laser_ref,
		const gsl_vector *	u
	)

expects cartesian valid

Definition at line 9 of file icp_outliers.c.

Functions

Function Documentation