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Minor update to scan registration #75

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Minor update to scan registration #75

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4a8791f
Merge pull request #3 from WaterlooRobotics/master
idlebear Mar 30, 2018
e760eef
Use Pose Estimate instead of Real Measurement
idlebear Apr 3, 2018
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25 changes: 18 additions & 7 deletions matlab_simulation/01-examples_lecture/mr-6-scanRegistration/scanregistration.m
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,10 @@
n = length(R(:,1)); % Number of vehicle states
xr = zeros(n,length(T)); % Vehicle states
xr(:,1) = x0;
xICP = zeros(n, length(T));
diffT = zeros(n, length(T));
diffICP = zeros(n,length(T));
errICP = zeros(1, length(T));
mur = x0;

% Belief map
Expand Down Expand Up @@ -113,15 +117,15 @@
end

% Perform ICP scan registration
[Ricp Ticp ER tau] = icp(pc_prev', pc',10);
[Ricp, Ticp, ER, tau] = icp(pc_prev', pc',10);
% Transform pointcloud for display
pc_new = [];
pc_new = zeros(size(pc));
for kk = 1:length(pc)
pc_new(kk,:) = (Ricp*pc(kk,:)' + Ticp)';
end

% Store robot pose estimate
xICP(:,t) = Ricp*(xr(:,t)) + Ticp;
xICP(:,t) = Ricp*(mur(:,t)) + Ticp;

% Plot scan registration results
figure(5); clf;hold on;
Expand All @@ -141,7 +145,7 @@
% motion prediction)
invmod = inversescannerbres(M,N,xICP(1,t),xICP(2,t),meas_phi(i)+xICP(3,t),meas_r(i),rmax);
% invmod = inversescannerbres(M,N,mur(1,t),mur(2,t),meas_phi(i)+mur(3,t),meas_r(i),rmax);
for j = 1:length(invmod(:,1));
for j = 1:length(invmod(:,1))
ix = invmod(j,1);
iy = invmod(j,2);
il = invmod(j,3);
Expand Down Expand Up @@ -180,16 +184,23 @@

% Belief map
figure(3);clf; hold on;
image(100*(m));
image(100*(1-m));
colormap(gray);
plot(mur(2,max(1,t-10):t),mur(1,max(1,t-10):t),'bx-')
axis([0 N 0 M])
%F3(t-1) = getframe;
title('Current occupancy grid map')
if (makemovie) writeVideo(vidObj, getframe(gca)); end

if (makemovie)
writeVideo(vidObj, getframe(gca));
end

drawnow;
end
if (makemovie) close(vidObj); end

if (makemovie)
close(vidObj);
end

figure(4);clf;hold on;
plot(errICP)
Expand Down