ndt_fuser.h

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#ifndef NDT_FUSER_HH
#define NDT_FUSER_HH

#include <ndt_visualisation/ndt_viz.h>
#include <ndt_map/ndt_map.h>
#include <ndt_registration/ndt_matcher_d2d_2d.h>
#include <ndt_registration/ndt_matcher_d2d.h>
#include <pointcloud_vrml/pointcloud_utils.h>

#include <Eigen/Eigen>
#include <pcl/point_cloud.h>

namespace lslgeneric {
template <typename PointT>
class NDTFuser{
    public:
        Eigen::Affine3d Tnow, Tlast_fuse; 
        lslgeneric::NDTMap<PointT> *map;  
        bool checkConsistency; 
        double max_translation_norm, max_rotation_norm;
        double sensor_range;
        bool be2D;
        NDTViz<PointT> *viewer;

        NDTFuser(double map_resolution, double map_size_x_, double map_size_y_, double map_size_z_, double sensor_range_ = 3, bool visualize_=false, bool be2D_=false){
            isInit = false;
            resolution = map_resolution;
            sensor_pose.setIdentity();
            checkConsistency = false;
            visualize = true;
            translation_fuse_delta = 0.05;
            rotation_fuse_delta = 0.01;
            max_translation_norm = 1.;
            max_rotation_norm = M_PI/4;
            map_size_x = map_size_x_;
            map_size_y = map_size_y_;
            map_size_z = map_size_z_;
            visualize = visualize_;
            be2D = be2D_;
            sensor_range = sensor_range_;
            viewer = new NDTViz<PointT>(visualize);
            std::cout<<"MAP: resolution: "<<resolution<<" size "<<map_size_x<<" "<<map_size_y<<" "<<map_size_z<<std::endl;
            map = new lslgeneric::NDTMap<PointT>(new lslgeneric::LazyGrid<PointT>(resolution));
        }
        ~NDTFuser()
        {
            delete map;
            delete viewer;
        }

        double getDoubleTime()
        {
            struct timeval time;
            gettimeofday(&time,NULL);
            return time.tv_sec + time.tv_usec * 1e-6;
        }
        void setSensorPose(Eigen::Affine3d spose){
            sensor_pose = spose;
        }
        
        bool wasInit()
        {
            return isInit;
        }

        void initialize(Eigen::Affine3d initPos, pcl::PointCloud<PointT> &cloud){
            std::cout<<"Initializing NDT FUSER!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n";
            lslgeneric::transformPointCloudInPlace(sensor_pose, cloud);
            lslgeneric::transformPointCloudInPlace(initPos, cloud);
            Tnow = initPos;
            map->initialize(Tnow.translation()(0),Tnow.translation()(1),Tnow.translation()(2),map_size_x,map_size_y,map_size_z);
            map->addPointCloud(Tnow.translation(),cloud, 0.1, 100.0, 0.1);
            map->computeNDTCells(CELL_UPDATE_MODE_SAMPLE_VARIANCE, 1e5, 255, Tnow.translation(), 0.1);
            isInit = true;
            Tlast_fuse = Tnow;
            if(visualize) 
            {
                viewer->plotNDTSAccordingToOccupancy(-1,map); 
                viewer->plotLocalNDTMap(cloud,resolution); 
            }
        }

        Eigen::Affine3d update(Eigen::Affine3d Tmotion, pcl::PointCloud<PointT> &cloud){
            if(!isInit){
                fprintf(stderr,"NDT-Fuser: Call Initialize first!!\n");
                return Tnow;
            }
            double t1,t2,t3,t4;
            lslgeneric::transformPointCloudInPlace(sensor_pose, cloud);
            t1 = getDoubleTime();
            lslgeneric::NDTMap<PointT> ndlocal(new lslgeneric::LazyGrid<PointT>(resolution));
            //ndlocal.guessSize(Tnow.translation()(0),Tnow.translation()(1),Tnow.translation()(2),sensor_range,sensor_range,sensor_range);
            ndlocal.addPointCloudSimple(cloud);
            ndlocal.computeNDTCells(CELL_UPDATE_MODE_SAMPLE_VARIANCE);
            t2 = getDoubleTime();
            t3 = t4 = t2;
            //Tmotion.setIdentity();        
            Eigen::Affine3d Tinit = Tnow * Tmotion;
            if(be2D) {
                if(matcher2D.match( *map, ndlocal,Tinit,true)){
                    Eigen::Affine3d diff = (Tnow * Tmotion).inverse() * Tinit;
                    if((diff.translation().norm() > max_translation_norm || 
                                diff.rotation().eulerAngles(0,1,2).norm() > max_rotation_norm) && checkConsistency){
                        fprintf(stderr,"****  NDTFuser -- ALMOST DEFINATELY A REGISTRATION FAILURE *****\n");
                        Tnow = Tnow * Tmotion;
                    }else{
                        Tnow = Tinit;
                        lslgeneric::transformPointCloudInPlace(Tnow, cloud);
                        Eigen::Affine3d spose = Tnow*sensor_pose;
                        Eigen::Affine3d diff_fuse = Tlast_fuse.inverse()*Tnow;

                        if(diff_fuse.translation().norm() > translation_fuse_delta ||
                                diff_fuse.rotation().eulerAngles(0,1,2).norm() > rotation_fuse_delta)
                        {
                            t3 = getDoubleTime();
                            map->addPointCloud(spose.translation(),cloud, 0.06, 2.5);
                            t4 = getDoubleTime();
                            map->computeNDTCells(CELL_UPDATE_MODE_SAMPLE_VARIANCE, 1e5, 255, spose.translation(), 0.1);
                            Tlast_fuse = Tnow;
                            if(visualize) 
                            {
                                viewer->plotNDTSAccordingToOccupancy(-1,map); 
                                viewer->plotLocalNDTMap(cloud,resolution); 
                            }
                        }
                    }
                    /*
                    std::cout<<"load: "<<t2-t1<<" match: "<<t3-t2<<" fuse: "<<t4-t3<<" total: "<<t4-t1<<std::endl;
                    FILE *ftmp = fopen("tmp.txt","a");
                    fprintf(ftmp,"%lf, ",t4-t3);
                    fclose(ftmp);*/
                }else{
                    Tnow = Tnow * Tmotion;
                }

            }
            else
            {
                if(matcher.match( *map, ndlocal,Tinit,true)){
                    Eigen::Affine3d diff = (Tnow * Tmotion).inverse() * Tinit;
                    if((diff.translation().norm() > max_translation_norm || 
                                diff.rotation().eulerAngles(0,1,2).norm() > max_rotation_norm) && checkConsistency){
                        fprintf(stderr,"****  NDTFuser -- ALMOST DEFINATELY A REGISTRATION FAILURE *****\n");
                        Tnow = Tnow * Tmotion;
                        //save offending map:
                        //map->writeToJFF("map.jff");
                        //ndlocal.writeToJFF("local.jff");
                    }else{
                        Tnow = Tinit;
                        lslgeneric::transformPointCloudInPlace(Tnow, cloud);
                        std::cout<<"Tnow :" << Tnow.matrix()<<std::endl;
                        Eigen::Affine3d spose = Tnow*sensor_pose;
                        Eigen::Affine3d diff_fuse = Tlast_fuse.inverse()*Tnow;

                        if(diff_fuse.translation().norm() > translation_fuse_delta ||
                                diff_fuse.rotation().eulerAngles(0,1,2).norm() > rotation_fuse_delta)
                        {
                            t3 = getDoubleTime();
                            map->addPointCloud(spose.translation(),cloud, 0.06, 2.5);
                            t4 = getDoubleTime();
                            map->computeNDTCells(CELL_UPDATE_MODE_SAMPLE_VARIANCE, 1e5, 255, spose.translation(), 0.1);
                            Tlast_fuse = Tnow;
                            if(visualize) 
                            {
                                viewer->plotNDTSAccordingToOccupancy(-1,map); 
                                viewer->plotLocalNDTMap(cloud,resolution); 
                            }

                        }
                    }
                    std::cout<<"load: "<<t2-t1<<" match: "<<t3-t2<<" fuse: "<<t4-t3<<" total: "<<t4-t1<<std::endl;
                    /*FILE *ftmp = fopen("tmp.txt","a");
                    fprintf(ftmp,"%lf, ",t4-t3);
                    fclose(ftmp);*/
                }else{
                    Tnow = Tnow * Tmotion;
                }
            }
            
            return Tnow;
        }

    private:
        bool isInit;

        double resolution; 
        double map_size;
        
        double translation_fuse_delta, rotation_fuse_delta;
        double map_size_x;
        double map_size_y;
        double map_size_z;
        bool visualize;

        Eigen::Affine3d sensor_pose;
        lslgeneric::NDTMatcherD2D<PointT,PointT> matcher;
        lslgeneric::NDTMatcherD2D_2D<PointT,PointT> matcher2D;

    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

};
}
#endif