cccorelib.h

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/*
Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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      notice, this list of conditions and the following disclaimer.
    * 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.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
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*/
 
#ifndef CORELIB_SRC_ICP_CCCORELIB_H_
#define CORELIB_SRC_ICP_CCCORELIB_H_
 
#include <CCCoreLib/RegistrationTools.h>
 
namespace rtabmap {
 
rtabmap::Transform icpCC(
                const pcl::PointCloud<pcl::PointXYZI>::Ptr & fromCloud,
                pcl::PointCloud<pcl::PointXYZI>::Ptr & toCloud,
                int maxIterations = 150,
                double minRMSDecrease = 0.00001,
                bool force3DoF = false,
                bool force4DoF = false,
                int samplingLimit = 50000,
                double finalOverlapRatio = 0.85,
                bool filterOutFarthestPoints = false,
                double maxFinalRMS = 0.2,
                float * finalRMS = 0,
                std::string * errorMsg = 0)
{
        UDEBUG("maxIterations=%d", maxIterations);
        UDEBUG("minRMSDecrease=%f", minRMSDecrease);
        UDEBUG("samplingLimit=%d", samplingLimit);
        UDEBUG("finalOverlapRatio=%f", finalOverlapRatio);
        UDEBUG("filterOutFarthestPoints=%s", filterOutFarthestPoints?"true":"false");
        UDEBUG("force 3DoF=%s 4DoF=%s", force3DoF?"true":"false", force4DoF?"true":"false");
        UDEBUG("maxFinalRMS=%f", maxFinalRMS);
 
        rtabmap::Transform icpTransformation;
 
        CCCoreLib::ICPRegistrationTools::RESULT_TYPE result;
        CCCoreLib::PointProjectionTools::Transformation transform;
        CCCoreLib::ICPRegistrationTools::Parameters params;
        {
                if(minRMSDecrease > 0.0)
                {
                        params.convType = CCCoreLib::ICPRegistrationTools::MAX_ERROR_CONVERGENCE;
                        params.minRMSDecrease = minRMSDecrease; 
                }
                else
                {
                        params.convType = CCCoreLib::ICPRegistrationTools::MAX_ITER_CONVERGENCE;
                        params.nbMaxIterations = maxIterations; 
                }
                params.adjustScale = false;             
                params.filterOutFarthestPoints = filterOutFarthestPoints; 
                params.samplingLimit = samplingLimit; 
                params.finalOverlapRatio = finalOverlapRatio;  
                params.modelWeights = nullptr;          
                params.dataWeights = nullptr;           
                params.transformationFilters = force3DoF?33:force4DoF?1:0;  
                params.maxThreadCount = 0;              
        }
 
        double finalError = 0.0;
        unsigned finalPointCount = 0;
 
        CCCoreLib::PointCloud toPointCloud = CCCoreLib::PointCloud();
        CCCoreLib::PointCloud fromPointCloud = CCCoreLib::PointCloud();
 
        fromPointCloud.reserve(fromCloud->points.size());
        for(uint nIndex=0; nIndex < fromCloud->points.size(); nIndex++)
        {
                CCVector3 P;
                P.x = fromCloud->points[nIndex].x;
                P.y = fromCloud->points[nIndex].y;
                P.z = force3DoF?0:fromCloud->points[nIndex].z;
                fromPointCloud.addPoint(P);
        }
        toPointCloud.reserve(toCloud->points.size());
        for(uint nIndex=0; nIndex < toCloud->points.size(); nIndex++)
        {
                CCVector3 P;
                P.x = toCloud->points[nIndex].x;
                P.y = toCloud->points[nIndex].y;
                P.z = force3DoF?0:toCloud->points[nIndex].z;
                toPointCloud.addPoint(P);
        }
 
        UDEBUG("CCCoreLib: start ICP");
        result = CCCoreLib::ICPRegistrationTools::Register(
                        &fromPointCloud,
                        nullptr,
                        &toPointCloud,
                        params,
                        transform,
                        finalError,
                        finalPointCount);
        UDEBUG("CCCoreLib: ICP done!");
 
        UDEBUG("CC ICP result: %d", result);
        UDEBUG("CC Final error: %f . Finall Pointcount: %d", finalError, finalPointCount);
        UDEBUG("CC ICP success Trans: %f %f %f", transform.T.x,transform.T.y,transform.T.z);
 
        if(finalRMS)
        {
                *finalRMS = (float)finalError;
        }
 
        if(result != 1)
        {
                std::string msg = uFormat("CCCoreLib has failed: Rejecting transform as result %d !=1", result);
                UDEBUG(msg.c_str());
                if(errorMsg)
                {
                        *errorMsg = msg;
                }
 
                icpTransformation.setNull();
                return icpTransformation;
        }
        else if(!transform.R.isValid())
        {
                std::string msg = uFormat("CCCoreLib has failed: Rotation matrix is invalid");
                UDEBUG(msg.c_str());
                if(errorMsg)
                {
                        *errorMsg = msg;
                }
                icpTransformation.setNull();
                return icpTransformation;
        }
        //CC transform to EIgen4f
        Eigen::Matrix4f matrix;
        matrix.setIdentity();
        for(int i=0;i<3;i++)
        {
                for(int j=0;j<3;j++)
                {
                        matrix(i,j)=transform.R.getValue(i,j);
                }
        }
        for(int i=0;i<3;i++)
        {
                matrix(i,3)=transform.T[i];
        }
 
        icpTransformation = rtabmap::Transform::fromEigen4f(matrix);
        icpTransformation = icpTransformation.inverse();
        UDEBUG("CC ICP result: %s", icpTransformation.prettyPrint().c_str());
 
        if(finalError > maxFinalRMS)
        {
                std::string msg = uFormat("CCCoreLib has failed: Rejecting transform as RMS %f > %f (%s) ", finalError, maxFinalRMS, rtabmap::Parameters::kIcpCCMaxFinalRMS().c_str());
                UDEBUG(msg.c_str());
                if(errorMsg)
                {
                        *errorMsg = msg;
                }
                icpTransformation.setNull();
        }
        return icpTransformation;
}
 
}
 
#endif /* CORELIB_SRC_ICP_CCCORELIB_H_ */