-
Notifications
You must be signed in to change notification settings - Fork 70
/
cleanLiDARTarget.m
64 lines (62 loc) · 3.3 KB
/
cleanLiDARTarget.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
%{
* Copyright (C) 2020-2030, The Regents of The University of Michigan.
* All rights reserved.
* This software was developed in the Biped Lab (https://www.biped.solutions/)
* under the direction of Jessy Grizzle, [email protected]. This software may
* be available under alternative licensing terms; contact the address above.
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* The views and conclusions contained in the software and documentation are those
* of the authors and should not be interpreted as representing official policies,
* either expressed or implied, of the Regents of The University of Michigan.
*
* AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
* WEBSITE: https://www.brucerobot.com/
%}
function [X_clean, bag_data] = cleanLiDARTarget(scan_num, tag_num, bag_data, X, target_len, opt)
N = 4; % clean up using N std for x axis
M = 3; % clean up using M std for y, z axis
opt = optimizeCost(opt, X, target_len, 0.001);
X_ref = opt.H_opt * X;
% distance = sum(X_ref(1:3,:), 1); % L1
L_infinity = max(abs(X_ref(1:3,:))); % L infinity
K = find(L_infinity < (target_len/2)*1.025);
X_ref_clean_yz = X_ref(:, K); % clean up y and z axis
L_infinity = max(X_ref_clean_yz(1:3,:));
K_center = find(L_infinity < target_len/4);
X_std = std(X_ref_clean_yz(:, K_center), 1, 2);
Q = find(abs(X_ref_clean_yz(1,:)) < N*(X_std(1))); % clean up x with 2 std
X_ref_clean = X_ref_clean_yz(:, Q);
X_clean = inv(opt.H_opt) * X_ref_clean;
bag_data.lidar_target(tag_num).scan(scan_num).clean_up.std = N*(X_std(1));
bag_data.lidar_target(tag_num).scan(scan_num).clean_up.L_infinity = L_infinity;
bag_data.lidar_target(tag_num).scan(scan_num).clean_up.L_1 = sum(X_ref(1:3,:), 1);
% figure(200);
% clf('reset')
% scatter3(X_ref(1,:), X_ref(2,:), X_ref(3,:))
% xlabel('x')
% ylabel('y')
% zlabel('z')
% axis equal
% hold on;
% scatter3(X_ref_clean_yz(1,:), X_ref_clean_yz(2,:), X_ref_clean_yz(3,:))
% scatter3(X_ref_clean(1,:), X_ref_clean(2,:), X_ref_clean(3,:))
% axis equal
% view(90,0)
% hold off;
end