Matcher_Points_Base.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.h>
#include <mrpt/math/TPoint3D.h>
 
#include <cstdlib>
#include <limits>  // std::numeric_limits
#include <optional>
#include <vector>
 
namespace mp2p_icp
{
class Matcher_Points_Base : public Matcher
{
   public:
    Matcher_Points_Base() = default;
 
    std::map<std::string, std::map<std::string, double>> weight_pt2pt_layers;
 
    uint64_t maxLocalPointsPerLayer_ = 0;
    uint64_t localPointsSampleSeed_  = 0;
 
    bool allowMatchAlreadyMatchedPoints_ = false;
 
    bool allowMatchAlreadyMatchedGlobalPoints_ = false;
 
    std::optional<std::size_t> kdtree_leaf_max_points_;
 
    double bounding_box_intersection_check_epsilon_ = 0.20;
 
    void initialize(const mrpt::containers::yaml& params) override;
 
    struct TransformedLocalPointCloud
    {
       public:
        mrpt::math::TPoint3Df localMin{fMax, fMax, fMax};
        mrpt::math::TPoint3Df localMax{-fMax, -fMax, -fMax};
 
        std::optional<std::vector<std::size_t>> idxs;
 
        mrpt::aligned_std_vector<float> x_locals, y_locals, z_locals;
 
       private:
        static constexpr auto fMax = std::numeric_limits<float>::max();
    };
 
    static TransformedLocalPointCloud transform_local_to_global(
        const mrpt::maps::CPointsMap& pcLocal,
        const mrpt::poses::CPose3D&   localPose,
        const std::size_t             maxLocalPoints        = 0,
        const uint64_t                localPointsSampleSeed = 0);
 
   protected:
    bool impl_match(
        const metric_map_t& pcGlobal, const metric_map_t& pcLocal,
        const mrpt::poses::CPose3D& localPose, const MatchContext& mc,
        MatchState& ms, Pairings& out) const override final;
 
   private:
    virtual 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 = 0;
};
 
}  // namespace mp2p_icp