TransformationCheckersImpl.h

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/*

Copyright (c) 2010--2012,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

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#ifndef __POINTMATCHER_TRANSFORMATIONCHECKERS_H
#define __POINTMATCHER_TRANSFORMATIONCHECKERS_H

#include "PointMatcher.h"

template<typename T>
struct TransformationCheckersImpl
{
        typedef PointMatcherSupport::Parametrizable Parametrizable;
        typedef PointMatcherSupport::Parametrizable P;
        typedef Parametrizable::Parameters Parameters;
        typedef Parametrizable::ParameterDoc ParameterDoc;
        typedef Parametrizable::ParametersDoc ParametersDoc;
        
        typedef typename PointMatcher<T>::TransformationChecker TransformationChecker;
        typedef typename PointMatcher<T>::TransformationParameters TransformationParameters;
        typedef typename PointMatcher<T>::Vector Vector;
        typedef typename PointMatcher<T>::VectorVector VectorVector;
        typedef typename PointMatcher<T>::Quaternion Quaternion;
        typedef typename PointMatcher<T>::QuaternionVector QuaternionVector;
        typedef typename PointMatcher<T>::Matrix Matrix;
        
        struct CounterTransformationChecker: public TransformationChecker
        {
                struct MaxNumIterationsReached {};

                inline static const std::string description()
                {
                        return "This checker stops the ICP loop after a certain number of iterations.";
                }
                inline static const ParametersDoc availableParameters()
                {
                        return {
                                {"maxIterationCount", "maximum number of iterations ", "40", "0", "2147483647", &P::Comp<unsigned>}
                        };
                }
                
                const unsigned maxIterationCount;
                
                CounterTransformationChecker(const Parameters& params = Parameters());
                virtual void init(const TransformationParameters& parameters, bool& iterate);
                virtual void check(const TransformationParameters& parameters, bool& iterate);
        };

        struct DifferentialTransformationChecker: public TransformationChecker
        {
                inline static const std::string description()
                {
                        return "This checker stops the ICP loop when the relative motions (i.e. abs(currentIter - lastIter)) of rotation and translation components are below a fix thresholds. This allows to stop the iteration when the point cloud is stabilized. Smoothing can be applied to avoid oscillations. Inspired by \\cite{Chetverikov2002Trimmed}.";
                }
                inline static const ParametersDoc availableParameters()
                {
                        return {
                                {"minDiffRotErr", "threshold for rotation error (radian)", "0.001", "0.", "6.2831854", &P::Comp<T>},
                                {"minDiffTransErr", "threshold for translation error", "0.001", "0.", "inf", &P::Comp<T>},
                                {"smoothLength", "number of iterations over which to average the differencial error", "3", "0", "2147483647", &P::Comp<unsigned>}
                        };
                }
                
                const T minDiffRotErr;
                const T minDiffTransErr;
                const unsigned int smoothLength;

        protected:
                QuaternionVector rotations;
                VectorVector translations;

        public:
                DifferentialTransformationChecker(const Parameters& params = Parameters());
                
                virtual void init(const TransformationParameters& parameters, bool& iterate);
                virtual void check(const TransformationParameters& parameters, bool& iterate);
        };

        struct BoundTransformationChecker: public TransformationChecker
        {
                inline static const std::string description()
                {
                        return "This checker stops the ICP loop with an exception when the transformation values exceed bounds.";
                }
                inline static const ParametersDoc availableParameters()
                {
                        return {
                                {"maxRotationNorm",    "rotation bound",    "1", "0", "inf", &P::Comp < T > },
                                {"maxTranslationNorm", "translation bound", "1", "0", "inf", &P::Comp < T > }
                        };
                }
                        
                const T maxRotationNorm;
                const T maxTranslationNorm;
                
        protected:
                Quaternion initialRotation3D;
                T initialRotation2D;
                Vector initialTranslation;
                
        public:
                EIGEN_MAKE_ALIGNED_OPERATOR_NEW
                BoundTransformationChecker(const Parameters& params = Parameters());
                virtual void init(const TransformationParameters& parameters, bool& iterate);
                virtual void check(const TransformationParameters& parameters, bool& iterate);
        };
}; // TransformationCheckersImpl

#endif // __POINTMATCHER_TRANSFORMATIONCHECKERS_H