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Tiziano/build linear system #249

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merged 4 commits into from
Oct 27, 2023
Merged

Tiziano/build linear system #249

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f85e43c
BuildLinearSystem function, allow computing the covariance at
tizianoGuadagnino Sep 19, 2023
3bf597b
Add const ;)
tizianoGuadagnino Oct 13, 2023
c74760a
Merge branch 'main' into tiziano/build_linear_system
tizianoGuadagnino Oct 13, 2023
8d735af
Merge branch 'main' into tiziano/build_linear_system
tizianoGuadagnino Oct 27, 2023
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36 changes: 19 additions & 17 deletions cpp/kiss_icp/core/Registration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,9 +32,7 @@
#include <tuple>

namespace Eigen {
using Matrix6d = Eigen::Matrix<double, 6, 6>;
using Matrix3_6d = Eigen::Matrix<double, 3, 6>;
using Vector6d = Eigen::Matrix<double, 6, 1>;
} // namespace Eigen

namespace {
Expand Down Expand Up @@ -62,9 +60,17 @@ void TransformPoints(const Sophus::SE3d &T, std::vector<Eigen::Vector3d> &points
[&](const auto &point) { return T * point; });
}

Sophus::SE3d AlignClouds(const std::vector<Eigen::Vector3d> &source,
const std::vector<Eigen::Vector3d> &target,
double th) {
constexpr int MAX_NUM_ITERATIONS_ = 500;
constexpr double ESTIMATION_THRESHOLD_ = 0.0001;

} // namespace

namespace kiss_icp {

std::tuple<Eigen::Matrix6d, Eigen::Vector6d> BuildLinearSystem(
const std::vector<Eigen::Vector3d> &source,
const std::vector<Eigen::Vector3d> &target,
double kernel) {
auto compute_jacobian_and_residual = [&](auto i) {
const Eigen::Vector3d residual = source[i] - target[i];
Eigen::Matrix3_6d J_r;
Expand All @@ -80,7 +86,9 @@ Sophus::SE3d AlignClouds(const std::vector<Eigen::Vector3d> &source,
ResultTuple(),
// 1st Lambda: Parallel computation
[&](const tbb::blocked_range<size_t> &r, ResultTuple J) -> ResultTuple {
auto Weight = [&](double residual2) { return square(th) / square(th + residual2); };
auto Weight = [&](double residual2) {
return square(kernel) / square(kernel + residual2);
};
auto &[JTJ_private, JTr_private] = J;
for (auto i = r.begin(); i < r.end(); ++i) {
const auto &[J_r, residual] = compute_jacobian_and_residual(i);
Expand All @@ -93,17 +101,9 @@ Sophus::SE3d AlignClouds(const std::vector<Eigen::Vector3d> &source,
// 2nd Lambda: Parallel reduction of the private Jacboians
[&](ResultTuple a, const ResultTuple &b) -> ResultTuple { return a + b; });

const Eigen::Vector6d x = JTJ.ldlt().solve(-JTr);
return Sophus::SE3d::exp(x);
return std::make_tuple(JTJ, JTr);
}

constexpr int MAX_NUM_ITERATIONS_ = 500;
constexpr double ESTIMATION_THRESHOLD_ = 0.0001;

} // namespace

namespace kiss_icp {

Sophus::SE3d RegisterFrame(const std::vector<Eigen::Vector3d> &frame,
const VoxelHashMap &voxel_map,
const Sophus::SE3d &initial_guess,
Expand All @@ -121,13 +121,15 @@ Sophus::SE3d RegisterFrame(const std::vector<Eigen::Vector3d> &frame,
// Equation (10)
const auto &[src, tgt] = voxel_map.GetCorrespondences(source, max_correspondence_distance);
// Equation (11)
auto estimation = AlignClouds(src, tgt, kernel);
const auto &[JTJ, JTr] = BuildLinearSystem(src, tgt, kernel);
const Eigen::Vector6d dx = JTJ.ldlt().solve(-JTr);
const Sophus::SE3d estimation = Sophus::SE3d::exp(dx);
// Equation (12)
TransformPoints(estimation, source);
// Update iterations
T_icp = estimation * T_icp;
// Termination criteria
if (estimation.log().norm() < ESTIMATION_THRESHOLD_) break;
if (dx.norm() < ESTIMATION_THRESHOLD_) break;
}
// Spit the final transformation
return T_icp * initial_guess;
Expand Down
10 changes: 10 additions & 0 deletions cpp/kiss_icp/core/Registration.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,18 @@

#include "VoxelHashMap.hpp"

namespace Eigen {
using Matrix6d = Eigen::Matrix<double, 6, 6>;
using Vector6d = Eigen::Matrix<double, 6, 1>;
} // namespace Eigen

namespace kiss_icp {

std::tuple<Eigen::Matrix6d, Eigen::Vector6d> BuildLinearSystem(
const std::vector<Eigen::Vector3d> &source,
const std::vector<Eigen::Vector3d> &target,
double kernel);

Sophus::SE3d RegisterFrame(const std::vector<Eigen::Vector3d> &frame,
const VoxelHashMap &voxel_map,
const Sophus::SE3d &initial_guess,
Expand Down