ndt_map_matcher_d2d_2d.h

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#ifndef NDT_MAP_MATCHER_D2D_2D_HH
#define NDT_MAP_MATCHER_D2D_2D_HH

#include <ndt_map/ndt_map.h>
#include <ndt_matcher_d2d_2d.h>

#include "pcl/point_cloud.h"
#include "Eigen/Core"

#include <stdlib.h>
#include <stdio.h>
#include <math.h>


namespace lslgeneric{

template <typename PointT>
class NDTMapMatcherD2D_2D{
        public:
                lslgeneric::NDTMap<PointT> map;  
                
                NDTMapMatcherD2D_2D(double map_resolution,  lslgeneric::NDTMap<PointT> &nd_map ,double miniz = 0.0, double maxiz = 0.0) : 
                        map(new lslgeneric::LazyGrid<PointT>(map_resolution))
                {
                        isInit = false;
                        resolution = map_resolution;
                        min_z = miniz;
                        max_z = maxiz;
                        sensor_pose.setIdentity();
                        double cx,cy,cz;
                        if(!nd_map.getCentroid(cx, cy, cz)){
                                fprintf(stderr,"Centroid NOT Given-abort!\n");
                                exit(1);
                        }else{
                                fprintf(stderr,"Centroid(%lf,%lf,%lf)\n",cx,cy,cz);
                        }
                        
                        double wx,wy,wz;
                        
                        if(!nd_map.getGridSizeInMeters(wx, wy, wz)){
                                fprintf(stderr,"Grid size NOT Given-abort!\n");
                                exit(1);
                        }else{
                                fprintf(stderr,"GridSize(%lf,%lf,%lf)\n",wx,wy,wz);
                        }
                        
                        map.initialize(cx,cy,cz,wx,wy,wz);
                        
                        std::vector<lslgeneric::NDTCell<PointT>*> ndts;
                        ndts = nd_map.getAllCells();
                        fprintf(stderr,"NDTMapMatcherD2D_2D::Inserting %d gaussians to map\n",ndts.size());
                        for(unsigned int i=0;i<ndts.size();i++){
                                Eigen::Vector3d m = ndts[i]->getMean(); 
                                if(m[2]>min_z && m[2] < max_z){
                                        Eigen::Matrix3d cov = ndts[i]->getCov();
                                        unsigned int nump = ndts[i]->getN();
                                        map.addDistributionToCell(cov, m,nump);
                                }
                        }       
                }
                void setSensorPose(Eigen::Affine3d spose){
                        sensor_pose = spose;
                }
                
                bool update(Eigen::Affine3d Tinit, pcl::PointCloud<PointT> &cloud){
                        lslgeneric::transformPointCloudInPlace(sensor_pose, cloud);
                        pcl::PointCloud<PointT> cloud_tmp;
                        for(unsigned int i=0;i<cloud.size();i++){
                                bool add = true;
                                if(cloud.points[i].z > max_z || cloud.points[i].z<min_z){
                                        add=false;
                                }
                                if(add) cloud_tmp.push_back(cloud.points[i]);
                        }
                        cloud = cloud_tmp;                      

                        lslgeneric::NDTMap<PointT> ndlocal(new lslgeneric::LazyGrid<PointT>(resolution));
                        ndlocal.addPointCloudSimple(cloud);
                        ndlocal.computeNDTCells(CELL_UPDATE_MODE_SAMPLE_VARIANCE);
                        
                        lslgeneric::NDTMatcherD2D_2D<PointT,PointT> matcher; //(false,false);
                        return(matcher.match( map, ndlocal,Tinit,true));
                }
                
                bool updateNoFilt(Eigen::Affine3d &Tinit, pcl::PointCloud<PointT> &cloud){
                        
                        lslgeneric::NDTMap<PointT> ndlocal(new lslgeneric::LazyGrid<PointT>(resolution));
                        ndlocal.addPointCloudSimple(cloud);
                        ndlocal.computeNDTCells(CELL_UPDATE_MODE_SAMPLE_VARIANCE);
                        
                        lslgeneric::NDTMatcherD2D_2D<PointT,PointT> matcher; //(false,false);
                        return matcher.match( map, ndlocal,Tinit,true);
                }
                
        private:
                bool isInit;
                
                double resolution; 
                double min_z;           
                double max_z;     
                
                Eigen::Affine3d sensor_pose;
                
                
};
}
#endif