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server
drivers
mixed
mricp
include
icp.h
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/*
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Copyright (c) 2004, Tim Bailey
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the Player Project nor the names of its contributors
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may be used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
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ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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/* Iterated closest point (ICP) algorithm.
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*
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* This is a very simple implementation of ICP, with one simple extension where the
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* association may be chosen as an interpolation between two nearest neighbours rather
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* than just point-to-point with the nearest neighbour.
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*
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* A lot of extensions to this basic algorithm are possible. For example,
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* 1. Record at each iteration the set of NN associations for each observation.
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* If these do not change, then ICP has converged completely.
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*
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* 2. Various speed ups given in the following papers:
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*
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* (a) P.J. Besl and N.D. McKay. A method for registration of 3-D shapes. IEEE
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* Transactions on Pattern Analysis and Machine Intelligence, 14(2):239256, 1992.
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*
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* (b) F. Lu and E. Milios. Robot pose estimation in unknown environments by matching
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* 2D range scans. Journal of Intelligent and Robotic Systems, 18:249275, 1997.
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*
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* (c) S. Rusinkiewicz and M. Levoy. Efficient variants of the ICP algorithm. In Third
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* International Conference on 3D Digital Imaging and Modeling, pages 145152, 2001.
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*
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* 3. Methods for estimating the error introduced by point-wise correspondence in
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* the paper (b) above and also:
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*
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* S.T. P?ster, K.L. Kriechbaum, S.I. Roumeliotis, and J.W. Burdick. Weighted range
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* sensor matching algorithms for mobile robot displacement estimation. In IEEE
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* International Conference on Robotics and Automation, 2002.
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*
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* Tim Bailey 2004.
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*/
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#include <vector>
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#include "geometry2D.h"
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#include "nn.h"
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#include <memory>
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using namespace
std;
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namespace
Geom2D {
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class
ICP
{
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public
:
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ICP
();
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~ICP
();
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Pose
align(std::vector<Point> , std::vector<Point>,
Pose
,
double
,
int
,
bool
);
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const
std::vector<Point> get_ref_points() {
return
b; }
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const
std::vector<Point> get_obs_points() {
return
a; }
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bool
warning_misalign;
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private
:
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vector<Point> ref;
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SweepSearch
* nn;
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vector<Point> a;
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vector<Point> b;
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vector<int> index;
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};
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}
// namespace Geom2D
Geom2D::ICP
Definition
icp.h:66
Geom2D::SweepSearch
Definition
nn.h:49
Geom2D::Pose
Definition
geometry2D.h:58
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