ICP.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2021 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once
 
#include <mp2p_icp/IterTermReason.h>
#include <mp2p_icp/LogRecord.h>
#include <mp2p_icp/Matcher.h>
#include <mp2p_icp/Parameters.h>
#include <mp2p_icp/QualityEvaluator.h>
#include <mp2p_icp/QualityEvaluator_PairedRatio.h>
#include <mp2p_icp/Results.h>
#include <mp2p_icp/Solver.h>
#include <mp2p_icp/metricmap.h>
#include <mrpt/containers/yaml.h>
#include <mrpt/core/optional_ref.h>
#include <mrpt/math/TPose3D.h>
#include <mrpt/rtti/CObject.h>
#include <mrpt/system/COutputLogger.h>
 
#include <cstdint>
#include <functional>  //reference_wrapper
#include <memory>
 
namespace mp2p_icp
{
class ICP : public mrpt::system::COutputLogger, public mrpt::rtti::CObject
{
    DEFINE_MRPT_OBJECT(ICP, mp2p_icp)
 
   public:
    virtual void align(
        const metric_map_t& pcLocal, const metric_map_t& pcGlobal,
        const mrpt::math::TPose3D& initialGuessLocalWrtGlobal,
        const Parameters& p, Results& result,
        const mrpt::optional_ref<LogRecord>& outputDebugInfo = std::nullopt);
 
    using solver_list_t = std::vector<mp2p_icp::Solver::Ptr>;
 
    void initialize_solvers(const mrpt::containers::yaml& params);
 
    static void initialize_solvers(
        const mrpt::containers::yaml& params, ICP::solver_list_t& lst);
 
    const solver_list_t& solvers() const { return solvers_; }
    solver_list_t&       solvers() { return solvers_; }
 
    static bool run_solvers(
        const solver_list_t& solvers, const Pairings& pairings,
        OptimalTF_Result& out, const SolverContext& sc = {});
 
    void initialize_matchers(const mrpt::containers::yaml& params);
 
    static void initialize_matchers(
        const mrpt::containers::yaml& params, matcher_list_t& lst);
 
    const matcher_list_t& matchers() const { return matchers_; }
    matcher_list_t&       matchers() { return matchers_; }
 
    struct QualityEvaluatorEntry
    {
        QualityEvaluatorEntry(mp2p_icp::QualityEvaluator::Ptr o, double w)
            : obj(o), relativeWeight(w)
        {
        }
 
        mp2p_icp::QualityEvaluator::Ptr obj;
        double                          relativeWeight = 1.0;
    };
    using quality_eval_list_t = std::vector<QualityEvaluatorEntry>;
 
    void initialize_quality_evaluators(const mrpt::containers::yaml& params);
 
    static void initialize_quality_evaluators(
        const mrpt::containers::yaml& params, quality_eval_list_t& lst);
 
    const quality_eval_list_t& quality_evaluators() const
    {
        return quality_evaluators_;
    }
    quality_eval_list_t& quality_evaluators() { return quality_evaluators_; }
 
    static double evaluate_quality(
        const quality_eval_list_t& evaluators, const metric_map_t& pcGlobal,
        const metric_map_t& pcLocal, const mrpt::poses::CPose3D& localPose,
        const Pairings& finalPairings);
 
    virtual void initialize_derived(  //
        [[maybe_unused]] const mrpt::containers::yaml& p)
    {
        // Default: do nothing
    }
 
   protected:
    solver_list_t       solvers_;
    matcher_list_t      matchers_;
    quality_eval_list_t quality_evaluators_ = {
        {QualityEvaluator_PairedRatio::Create(), 1.0}};
 
    static void save_log_file(const LogRecord& log, const Parameters& p);
 
    struct ICP_State
    {
        ICP_State(const metric_map_t& pcsGlobal, const metric_map_t& pcsLocal)
            : pcGlobal(pcsGlobal), pcLocal(pcsLocal)
        {
        }
 
        const metric_map_t& pcGlobal;
        const metric_map_t& pcLocal;
        std::string         layerOfLargestPc;
        Pairings            currentPairings;
        OptimalTF_Result    currentSolution;
        uint32_t            currentIteration = 0;
        LogRecord*          log              = nullptr;
    };
};
}  // namespace mp2p_icp