optimize.h

/*************************************************************
  Generalized-ICP Copyright (c) 2009 Aleksandr Segal.
  All rights reserved.

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  or without modification, are permitted provided that the 
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  following disclaimer.
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  following disclaimer in the documentation and/or other
  materials provided with the distribution.
* The names of the contributors may not be used to endorse
  or promote products derived from this software
  without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
  CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED
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  PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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*************************************************************/


#ifndef OPTIMIZE_H_
#define OPTIMIZE_H_

#include <ANN.h>
#include "gicp.h"
#include <vector>
#include <gsl/gsl_linalg.h>
#include <gsl/gsl_blas.h>
#include <gsl/gsl_multimin.h>
#include <gsl/gsl_multifit_nlin.h>

namespace dgc {
  namespace gicp {
    inline void print_gsl_matrix(gsl_matrix *mat, const char * name) {
      std::cout << name << "= [";
      for(unsigned int i = 0; i < mat->size1; i++) {
	for(unsigned int j = 0; j < mat->size2; j++) {
	  std::cout << gsl_matrix_get(mat, i, j) << " ";
	}
	std::cout << ";" << std::endl;
      }
      std::cout << "]" << std::endl;
    }    
    
    struct GICPOptData {
      GICPPointSet *p1;
      GICPPointSet *p2;
      ANNidx *nn_indecies; // nearest point indecies
      gicp_mat_t *M;      // mahalanobis matrices for each pair
      dgc_transform_t base_t;
      int num_matches;
      bool solve_rotation;
    };
    
    class GICPOptimizer {
    public:
      GICPOptimizer();
      ~GICPOptimizer();

      int Iterations() { return iter; }
      const char* Status() { return gsl_strerror(status); }
      
      bool Optimize(dgc_transform_t t, GICPOptData &opt_data);
      bool OptimizeLM(dgc_transform_t t, GICPOptData &opt_data);
      
      void SetDebug(bool d) { debug = d; }
      
      void SetMaxIterations(int iter) { max_iter = iter; }

      void PlotError(dgc_transform_t t, GICPOptData &opt_data, const char* filename);
      
    private:
      static double f(const gsl_vector * x, void * params);
      static void df(const gsl_vector * x, void * params, gsl_vector * g);
      static void fdf(const gsl_vector * x, void * params, double * f, gsl_vector * g);

      static void compute_dr(gsl_vector const* x, gsl_matrix const* gsl_temp_mat_r, gsl_vector *g);
      static double mat_inner_prod(gsl_matrix const* mat1, gsl_matrix const* mat2);
      static void apply_state(dgc_transform_t t, gsl_vector const* x);
      
      gsl_multimin_fdfminimizer *gsl_minimizer;
      gsl_vector *x;
      int max_iter;
      int iter;
      int status;
      bool debug;
      const static int N = 6;
      const gsl_multimin_fdfminimizer_type *T_min;
    };
    
  }
}


#endif