icptest.cpp

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#include <cstdlib>
#include <iostream>
#include <fstream>

#include <list>
#include <gmapping/scanmatcher/icp.h>

using namespace GMapping;
using namespace std;

typedef std::list<PointPair> PointPairList;

PointPairList generateRandomPointPairs(int size, OrientedPoint t, double noise=0.){
        PointPairList ppl;
        double s=sin(t.theta), c=cos(t.theta);
        for (int i=0; i<size; i++){
                Point noiseDraw(noise*(drand48()-.5),noise*(drand48()-.5));
                PointPair pp;
                pp.first.x=100.*(drand48()-.5)+200;
                pp.first.y=10.*(drand48()-.5);
                pp.second.x= c*pp.first.x-s*pp.first.y;
                pp.second.y= s*pp.first.x+c*pp.first.y;
                pp.second=pp.second+t+noiseDraw;
                //cerr << "p1=" << pp.first.x << " " << pp.first.y << endl;
                //cerr << "p2=" << pp.second.x << " " << pp.second.y << endl;
                ppl.push_back(pp);
        }
        return ppl;
}


int main(int argc, const char ** argv){
        while (1){
                OrientedPoint t;
                int size;
                cerr << "Insert size, t.x, t.y, t.theta" << endl;
                cin >> size >> t.x >> t.y >> t.theta;
                PointPairList ppl=generateRandomPointPairs(size, t, 3);
                OrientedPoint tc;
                OrientedPoint ttot(0.,0.,0.);
                bool method=true;
                while(1){
                        char buf[10];
                        cerr << "iterate?" << endl;
                        cin.getline(buf,10);
                        if (buf[0]=='n')
                                method=false;
                        else if (buf[0]=='l')
                                method=true;
                        else if (buf[0]!=char(0))
                                break;
                        cout << "plot '-' w l, '-' w p, '-' w p" << endl;
                        for(PointPairList::iterator it=ppl.begin(); it!=ppl.end(); it++){
                                cout << it->first.x << " " << it->first.y<< endl;
                                cout << it->second.x << " " << it->second.y<< endl;
                                cout << endl;
                        }
                        cout << "e" << endl;
                        for(PointPairList::iterator it=ppl.begin(); it!=ppl.end(); it++){
                                cout << it->first.x << " " << it->first.y<< endl;
                        }
                        cout << "e" << endl;
                        for(PointPairList::iterator it=ppl.begin(); it!=ppl.end(); it++){
                                cout << it->second.x << " " << it->second.y<< endl;
                        }
                        cout << "e" << endl;
                        
                        double error;
                        if (!method){
                                cerr << "Nonlinear Optimization" << endl;
                                error=icpNonlinearStep(tc,ppl);
                        }else {
                                cerr << "Linear Optimization" << endl;
                                error=icpStep(tc,ppl);
                        }
                        cerr << "ICP err=" << error << " t.x=" << tc.x << " t.y=" << tc.y << " t.theta=" << tc.theta << endl;
                        cerr << "\t" << error << " ttot.x=" << ttot.x << " ttot.y=" << ttot.y << " ttot.theta=" << ttot.theta << endl;
                        double s=sin(tc.theta), c=cos(tc.theta);
                        for(PointPairList::iterator it=ppl.begin(); it!=ppl.end(); it++){
                                Point p1(c*it->first.x-s*it->first.y+tc.x,
                                         s*it->first.x+c*it->first.y+tc.y);
                                it->first=p1;
                        }
                        ttot.x+=tc.x;
                        ttot.y+=tc.y;
                        ttot.theta+=tc.theta;
                        ttot.theta=atan2(sin(ttot.theta), cos(ttot.theta));
                }
        }
        return 0;
}