TransformationCheckersImpl.cpp

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*

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>

All rights reserved.

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modification, are permitted provided that the following conditions are met:
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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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#include "TransformationCheckersImpl.h"
#include "Functions.h"
#include <boost/math/special_functions/fpclassify.hpp> 

using namespace std;
using namespace PointMatcherSupport;

//--------------------------------------
// max iteration counter
template<typename T>
TransformationCheckersImpl<T>::CounterTransformationChecker::CounterTransformationChecker(const Parameters& params):
        TransformationChecker("CounterTransformationChecker", CounterTransformationChecker::availableParameters(), params),
        maxIterationCount(Parametrizable::get<unsigned>("maxIterationCount"))
{
        this->limits.setZero(1);
        this->limits(0) = maxIterationCount;

        this->conditionVariableNames.push_back("Iteration");
        this->limitNames.push_back("Max iteration");
}

template<typename T>
void TransformationCheckersImpl<T>::CounterTransformationChecker::init(const TransformationParameters& parameters, bool& iterate)
{
        this->conditionVariables.setZero(1);
}

template<typename T>
void TransformationCheckersImpl<T>::CounterTransformationChecker::check(const TransformationParameters& parameters, bool& iterate)
{
        this->conditionVariables(0)++;
        
        //std::cout << "Iter: " << this->conditionVariables(0) << " / " << this->limits(0) << std::endl;
        //cerr << parameters << endl;
        
        if (this->conditionVariables(0) >= this->limits(0))
                iterate = false;
}

template struct TransformationCheckersImpl<float>::CounterTransformationChecker;
template struct TransformationCheckersImpl<double>::CounterTransformationChecker;


//--------------------------------------
// error
template<typename T>
TransformationCheckersImpl<T>::DifferentialTransformationChecker::DifferentialTransformationChecker(const Parameters& params):
        TransformationChecker("DifferentialTransformationChecker", DifferentialTransformationChecker::availableParameters(), params),
        minDiffRotErr(Parametrizable::get<T>("minDiffRotErr")),
        minDiffTransErr(Parametrizable::get<T>("minDiffTransErr")),
        smoothLength(Parametrizable::get<unsigned>("smoothLength"))
{
        this->limits.setZero(2);
        this->limits(0) = minDiffRotErr;
        this->limits(1) = minDiffTransErr;
        
        this->conditionVariableNames.push_back("Mean abs differential rot err");
        this->conditionVariableNames.push_back("Mean abs differential trans err");
        this->limitNames.push_back("Min differential rotation err");
        this->limitNames.push_back("Min differential translation err");

}

template<typename T>
void TransformationCheckersImpl<T>::DifferentialTransformationChecker::init(const TransformationParameters& parameters, bool& iterate)
{
        this->conditionVariables.setZero(2);
        
        rotations.clear();
        translations.clear();
        
        if (parameters.rows() == 4)
        {
                rotations.push_back(Quaternion(Eigen::Matrix<T,3,3>(parameters.topLeftCorner(3,3))));
        }
        else
        {
                // Handle the 2D case
                Eigen::Matrix<T,3,3> m(Matrix::Identity(3,3));
                m.topLeftCorner(2,2) = parameters.topLeftCorner(2,2);
                rotations.push_back(Quaternion(m));
        }
        
        translations.push_back(parameters.topRightCorner(parameters.rows()-1,1));
}

template<typename T>
void TransformationCheckersImpl<T>::DifferentialTransformationChecker::check(const TransformationParameters& parameters, bool& iterate)
{
        typedef typename PointMatcher<T>::ConvergenceError ConvergenceError;
        
        rotations.push_back(Quaternion(Eigen::Matrix<T,3,3>(parameters.topLeftCorner(3,3))));
        translations.push_back(parameters.topRightCorner(parameters.rows()-1,1));
        
        this->conditionVariables.setZero(2);
        if(rotations.size() > smoothLength)
        {
                for(size_t i = rotations.size()-1; i >= rotations.size()-smoothLength; i--)
                {
                        //Compute the mean derivative
                        this->conditionVariables(0) += anyabs(rotations[i].angularDistance(rotations[i-1]));
                        this->conditionVariables(1) += anyabs((translations[i] - translations[i-1]).norm());
                }

                this->conditionVariables /= smoothLength;

                if(this->conditionVariables(0) < this->limits(0) && this->conditionVariables(1) < this->limits(1))
                        iterate = false;
        }
        
        //std::cout << "Abs Rotation: " << this->conditionVariables(0) << " / " << this->limits(0) << std::endl;
        //std::cout << "Abs Translation: " << this->conditionVariables(1) << " / " << this->limits(1) << std::endl;
        
        if (boost::math::isnan(this->conditionVariables(0)))
                throw ConvergenceError("abs rotation norm not a number");
        if (boost::math::isnan(this->conditionVariables(1)))
                throw ConvergenceError("abs translation norm not a number");
}

template struct TransformationCheckersImpl<float>::DifferentialTransformationChecker;
template struct TransformationCheckersImpl<double>::DifferentialTransformationChecker;

//--------------------------------------
// bound

template<typename T>
TransformationCheckersImpl<T>::BoundTransformationChecker::BoundTransformationChecker(const Parameters& params):
        TransformationChecker("BoundTransformationChecker", BoundTransformationChecker::availableParameters(), params),
        maxRotationNorm(Parametrizable::get<T>("maxRotationNorm")),
        maxTranslationNorm(Parametrizable::get<T>("maxTranslationNorm"))
{
        this->limits.setZero(2);
        this->limits(0) = maxRotationNorm;
        this->limits(1) = maxTranslationNorm;

        this->limitNames.push_back("Max rotation angle");
        this->limitNames.push_back("Max translation norm");
        this->conditionVariableNames.push_back("Rotation angle");
        this->conditionVariableNames.push_back("Translation norm");
}

template<typename T>
void TransformationCheckersImpl<T>::BoundTransformationChecker::init(const TransformationParameters& parameters, bool& iterate)
{
        this->conditionVariables.setZero(2);
        if (parameters.rows() == 4)
                initialRotation3D = Quaternion(Eigen::Matrix<T,3,3>(parameters.topLeftCorner(3,3)));
        else if (parameters.rows() == 3)
                initialRotation2D = acos(parameters(0,0));
        else
                throw runtime_error("BoundTransformationChecker only works in 2D or 3D");
                
        initialTranslation = parameters.topRightCorner(parameters.rows()-1,1);
}

template<typename T>
void TransformationCheckersImpl<T>::BoundTransformationChecker::check(const TransformationParameters& parameters, bool& iterate)
{
        typedef typename PointMatcher<T>::ConvergenceError ConvergenceError;
        
        if (parameters.rows() == 4)
        {
                const Quaternion currentRotation = Quaternion(Eigen::Matrix<T,3,3>(parameters.topLeftCorner(3,3)));
                this->conditionVariables(0) = currentRotation.angularDistance(initialRotation3D);
        }
        else if (parameters.rows() == 3)
        {
                const T currentRotation(acos(parameters(0,0)));
                this->conditionVariables(0) = normalizeAngle(currentRotation - initialRotation2D);
        }
        else
                assert(false);
        const Vector currentTranslation = parameters.topRightCorner(parameters.rows()-1,1);
        this->conditionVariables(1) = (currentTranslation - initialTranslation).norm();
        if (this->conditionVariables(0) > this->limits(0) || this->conditionVariables(1) > this->limits(1))
        {
                ostringstream oss;
                oss << "limit out of bounds: ";
                oss << "rot: " << this->conditionVariables(0) << "/" << this->limits(0) << " ";
                oss << "tr: " << this->conditionVariables(1) << "/" << this->limits(1);
                throw ConvergenceError(oss.str());
        }
}

template struct TransformationCheckersImpl<float>::BoundTransformationChecker;
template struct TransformationCheckersImpl<double>::BoundTransformationChecker;