false_positives_filter.h

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/* \author Bastian Steder */


#ifndef PCL_FALSE_POSITIVES_FILTER_H
#define PCL_FALSE_POSITIVES_FILTER_H

#include <pcl/common/poses_from_matches.h>
#include <pcl/range_image/range_image.h>
#include <narf_recognition/object_model.h>
#include <Eigen/Geometry>

namespace pcl {

class FalsePositivesFilter
{
  public:
    //-----TYPEDEFS-----
    typedef PosesFromMatches::PoseEstimate PoseEstimate;
    typedef PosesFromMatches::PoseEstimatesVector PoseEstimates;
    
    //-----CLASSES/STRUCTS-----
    struct Parameters
    {
      Parameters () : max_no_of_threads (1), maximum_range_for_found_objects (-1.0), do_validation_point_filtering (true),
                     check_borders_for_validation_points (true), weight_for_see_through_points (5.0),
                     pixel_search_radius_for_validation_points_score (2), max_validation_point_error (0.1f),
                     do_pose_similarity_filtering (true),
                     do_icp (true),
                     icp_pixel_search_radius (3), icp_num_iterations (10), 
                     icp_max_distance_start (0.2), icp_max_distance_end (0.05),
                     //icp_min_num_points (20), icp_max_num_points (200),
                     fast_icp_no_of_surface_points_to_use (50), fast_icp_no_of_border_points_to_use (50),
                     max_no_of_remaining_pose_estimates_for_icp (25),
                     max_validation_point_error_before_icp_factor (2.0f),
                     min_validation_point_score (0.4f), min_validation_point_score_to_go_on_factor (0.75),
                     min_no_of_tested_validation_points (30), max_no_of_validation_points_before_icp (50),
                     min_validation_point_score_before_icp_factor (0.5),
                     do_view_simulation_filtering (false),
                     min_view_simulation_score (0.5), pixel_search_radius_for_view_simulation_score (2),
                     check_borders_for_view_simulation (true), check_normals_for_view_simulation (true)
                     //weightForSeeThroughValidationPoint (25.0), weightForKnownObstacleValidationPoint (0.5),
                     //weightForUnknownObstacleValidationPoint (15.0), weightForFarRangeValidationPoint (5.0),
      {}
      
      int max_no_of_threads;
      float maximum_range_for_found_objects;
      bool do_validation_point_filtering;
      bool check_borders_for_validation_points;
      float weight_for_see_through_points;
      bool do_pose_similarity_filtering;
      bool do_icp;
      int icp_pixel_search_radius;
      float icp_num_iterations;
      float icp_max_distance_start;
      float icp_max_distance_end;
      //int icp_min_num_points;
      //int icp_max_num_points;
      int fast_icp_no_of_surface_points_to_use;
      int fast_icp_no_of_border_points_to_use;
      int max_no_of_remaining_pose_estimates_for_icp;
      int pixel_search_radius_for_validation_points_score;
      float max_validation_point_error;
      float max_validation_point_error_before_icp_factor;
      float min_validation_point_score;
      float min_validation_point_score_to_go_on_factor;
      int min_no_of_tested_validation_points;
      int max_no_of_validation_points_before_icp;
      float min_validation_point_score_before_icp_factor;
      bool do_view_simulation_filtering;
      float min_view_simulation_score;
      int pixel_search_radius_for_view_simulation_score;
      bool check_borders_for_view_simulation,
           check_normals_for_view_simulation;
      //float weightForSeeThroughValidationPoint;
      //float weightForKnownObstacleValidationPoint;
      //float weightForUnknownObstacleValidationPoint;
      //float weightForFarRangeValidationPoint;
    };
    
    //-----CONSTRUCTOR&DESTRUCTOR-----
    FalsePositivesFilter ();
    virtual ~FalsePositivesFilter ();
    
    //-----STATIC METHODS-----

    //-----METHODS-----
    void
      viewSimulation (const RangeImage& scene, const ObjectModel& model, PoseEstimates& pose_estimates,
                      float min_score, float max_dist_error=-1.0f, std::vector<RangeImage>* results=NULL) const;

    void
      maximumRange (const RangeImage& scene, const ObjectModel& model,
                    PoseEstimates& pose_estimates, float maximum_range) const;

    void
      similarPoses (const ObjectModel& model, PoseEstimates& pose_estimates) const;
    
    void
      validationPoints (const RangeImage& scene, const ObjectModel& model, PoseEstimates& pose_estimates,
                       float min_score, float max_dist_error=-1.0f) const;
    
    void
      sortAndApplyMinScore (PoseEstimates& pose_estimates, float min_score) const;
    
    void
      keepBest (PoseEstimates& pose_estimates, int max_no_of_results) const;
    
    void
      filterResults (const RangeImage& scene, const ObjectModel& model, PoseEstimates& pose_estimates) const;
    
    void
      doIcp (const RangeImage& scene, const ObjectModel& model, PoseEstimates& pose_estimates, bool fast_icp) const;
    
    Parameters&
      getParameters () { return parameters_;}
    
    void
      setViewSimulationImagesPtr (std::vector<RangeImage>* vsi_ptr) { view_simulation_images_ = vsi_ptr;}
    
  protected:
    //-----PROTECTED METHODS-----
    void
      getRangeImagesForComparison (const RangeImage& scene, const ObjectModel& model,
                                  const PoseEstimate& pose_estimate,
                                  RangeImage& object_image, RangeImage& scene_sub_image) const;
    float
      getViewSimulationScore (const RangeImage& object_image, const RangeImage& scene_sub_image,
                             float max_dist_error, float& border_score, RangeImage* score_image=NULL) const;
    float
      getViewSimulationNormalsScore (const RangeImage& object_image, const RangeImage& scene_sub_image,
                                    RangeImage* score_image=NULL) const;
    float
      getSurfaceValidationPointScore (const std::vector<Eigen::Vector3f>& surface_points,
                                     const Eigen::Affine3f& pose, const RangeImage& scene, float max_dist_error,
                                     float min_score) const;
    float
      getBorderValidationPointScore (const std::vector<Eigen::Vector3f>& border_points, const Eigen::Affine3f& pose,
                                    const RangeImage& scene, float max_dist_error, float min_score) const;
    
    //-----PROTECTED VARIABLES-----
    Parameters parameters_;
    std::vector<RangeImage>* view_simulation_images_;
};

} // namespace end

#endif