// Refine initial guess.
void UAVLocalization::RefineTransformation(const PointCloud::Ptr& target,
const PointCloud::Ptr& source) {
if (!initialized_) {
ROS_ERROR("%s: Tried to refine transform before initializing.",
name_.c_str());
return;
}
// Setup.
pcl::GeneralizedIterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
icp.setInputSource(source);
icp.setInputTarget(target);
icp.setMaxCorrespondenceDistance(corr_dist_);
icp.setMaximumIterations(max_iters_);
icp.setTransformationEpsilon(tf_epsilon_);
icp.setRANSACOutlierRejectionThreshold(ransac_thresh_);
// Align.
PointCloud aligned_scan;
icp.align(aligned_scan);
Transform3D refinement(icp.getFinalTransformation().cast<double>());
refined_transform_ = refinement * refined_transform_;
}
void OptionBaseLogPrice<dim>::make_grid(){
std::vector<unsigned> refinement(dim);
for (unsigned i=0; i<dim; ++i) {
this->Smin[i]=log((1-this->f)*(*(this->models[i])).get_spot()*
exp((this->r-(*(this->models[i])).get_vol()*(*(this->models[i])).get_vol()/2)*
(this->T)-(*(this->models[i])).get_vol()*sqrt(this->T)*6)/
((*(this->models[i])).get_spot()));
this->Smax[i]=log((1+this->f)*(*(this->models[i])).get_spot()*
exp((this->r-(*(this->models[i])).get_vol()*(*(this->models[i])).get_vol()/2)*
(this->T)+(*(this->models[i])).get_vol()*sqrt(this->T)*6)/
((*(this->models[i])).get_spot()));
refinement[i]=pow(2, this->refs);
}
GridGenerator::subdivided_hyper_rectangle (this->triangulation, refinement,
this->Smin, this->Smax);
this->grid_points=this->triangulation.get_vertices();
return;
}