Matcher_Adaptive.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once
 
#include <mp2p_icp/Matcher_Points_Base.h>
#include <mrpt/containers/vector_with_small_size_optimization.h>
 
namespace mp2p_icp
{
class Matcher_Adaptive : public Matcher_Points_Base
{
    DEFINE_MRPT_OBJECT(Matcher_Adaptive, mp2p_icp)
 
   public:
    Matcher_Adaptive() = default;
 
    Matcher_Adaptive(
        double ConfidenceInterval, double FirstToSecondDistanceMax,
        double AbsoluteMaxSearchDistance)
        : Matcher_Points_Base(),
          confidenceInterval(ConfidenceInterval),
          firstToSecondDistanceMax(FirstToSecondDistanceMax),
          absoluteMaxSearchDistance(AbsoluteMaxSearchDistance)
    {
    }
 
    void initialize(const mrpt::containers::yaml& params) override;
 
   private:
    double         confidenceInterval        = 0.80;
    double         firstToSecondDistanceMax  = 1.2;
    mutable double absoluteMaxSearchDistance = 5.0;  // m
    bool           enableDetectPlanes        = false;
    uint32_t       maxPt2PtCorrespondences   = 1;
    uint32_t       planeSearchPoints         = 8;
    uint32_t       planeMinimumFoundPoints   = 4;
    double         planeMinimumDistance      = 0.10;
    double         planeEigenThreshold       = 0.01;
    double         minimumCorrDist           = 0.1;  // m
 
    // Declared here to avoid memory reallocations:
    mutable std::vector<size_t>                neighborIndices_;
    mutable std::vector<float>                 neighborSqrDists_;
    mutable std::vector<mrpt::math::TPoint3Df> neighborPts_;
    mutable std::vector<float>                 kddXs, kddYs, kddZs;
    mutable std::vector<double>                histXs_, histValues_;
 
    constexpr static size_t MAX_CORRS_PER_LOCAL = 10;
 
    mutable std::vector<mrpt::containers::vector_with_small_size_optimization<
        mrpt::tfest::TMatchingPair, MAX_CORRS_PER_LOCAL>>
        matchesPerLocal_;
 
    void implMatchOneLayer(
        const mrpt::maps::CMetricMap& pcGlobal,
        const mrpt::maps::CPointsMap& pcLocal,
        const mrpt::poses::CPose3D& localPose, MatchState& ms,
        const layer_name_t& globalName, const layer_name_t& localName,
        Pairings& out) const override;
};
 
}  // namespace mp2p_icp