OdometryICP.cpp

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/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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      names of its contributors may be used to endorse or promote products
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#include "rtabmap/core/Odometry.h"
#include "rtabmap/core/util3d.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"

namespace rtabmap {

OdometryICP::OdometryICP(int decimation,
                float voxelSize,
                int samples,
                float maxCorrespondenceDistance,
                int maxIterations,
                float correspondenceRatio,
                bool pointToPlane,
                const ParametersMap & odometryParameter) :
        Odometry(odometryParameter),
        _decimation(decimation),
        _voxelSize(voxelSize),
        _samples(samples),
        _maxCorrespondenceDistance(maxCorrespondenceDistance),
        _maxIterations(maxIterations),
        _correspondenceRatio(correspondenceRatio),
        _pointToPlane(pointToPlane),
        _previousCloudNormal(new pcl::PointCloud<pcl::PointNormal>),
        _previousCloud(new pcl::PointCloud<pcl::PointXYZ>)
{
}

void OdometryICP::reset(const Transform & initialPose)
{
        Odometry::reset(initialPose);
        _previousCloudNormal.reset(new pcl::PointCloud<pcl::PointNormal>);
        _previousCloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
}

// return not null transform if odometry is correctly computed
Transform OdometryICP::computeTransform(const SensorData & data, OdometryInfo * info)
{
        UTimer timer;
        Transform output;

        bool hasConverged = false;
        double variance = 0;
        unsigned int minPoints = 100;
        if(!data.depth().empty())
        {
                if(data.depth().type() == CV_8UC1)
                {
                        UERROR("ICP 3D cannot be done on stereo images!");
                        return output;
                }

                pcl::PointCloud<pcl::PointXYZ>::Ptr newCloudXYZ = util3d::getICPReadyCloud(
                                                data.depth(),
                                                data.fx(),
                                                data.fy(),
                                                data.cx(),
                                                data.cy(),
                                                _decimation,
                                                this->getMaxDepth(),
                                                _voxelSize,
                                                _samples,
                                                data.localTransform());

                if(_pointToPlane)
                {
                        pcl::PointCloud<pcl::PointNormal>::Ptr newCloud = util3d::computeNormals(newCloudXYZ);

                        std::vector<int> indices;
                        newCloud = util3d::removeNaNNormalsFromPointCloud<pcl::PointNormal>(newCloud);
                        if(newCloudXYZ->size() != newCloud->size())
                        {
                                UWARN("removed nan normals...");
                        }

                        if(_previousCloudNormal->size() > minPoints && newCloud->size() > minPoints)
                        {
                                int correspondences = 0;
                                Transform transform = util3d::icpPointToPlane(newCloud,
                                                _previousCloudNormal,
                                                _maxCorrespondenceDistance,
                                                _maxIterations,
                                                &hasConverged,
                                                &variance,
                                                &correspondences);

                                // verify if there are enough correspondences
                                float correspondencesRatio = float(correspondences)/float(_previousCloudNormal->size()>newCloud->size()?_previousCloudNormal->size():newCloud->size());

                                if(!transform.isNull() && hasConverged &&
                                   correspondencesRatio >= _correspondenceRatio)
                                {
                                        output = transform;
                                        _previousCloudNormal = newCloud;
                                }
                                else
                                {
                                        UWARN("Transform not valid (hasConverged=%s variance = %f)",
                                                        hasConverged?"true":"false", variance);
                                }
                        }
                        else if(newCloud->size() > minPoints)
                        {
                                output.setIdentity();
                                _previousCloudNormal = newCloud;
                        }
                }
                else
                {
                        //point to point
                        if(_previousCloud->size() > minPoints && newCloudXYZ->size() > minPoints)
                        {
                                int correspondences = 0;
                                Transform transform = util3d::icp(newCloudXYZ,
                                                _previousCloud,
                                                _maxCorrespondenceDistance,
                                                _maxIterations,
                                                &hasConverged,
                                                &variance,
                                                &correspondences);

                                // verify if there are enough correspondences
                                float correspondencesRatio = float(correspondences)/float(_previousCloud->size()>newCloudXYZ->size()?_previousCloud->size():newCloudXYZ->size());

                                if(!transform.isNull() && hasConverged &&
                                   correspondencesRatio >= _correspondenceRatio)
                                {
                                        output = transform;
                                        _previousCloud = newCloudXYZ;
                                }
                                else
                                {
                                        UWARN("Transform not valid (hasConverged=%s variance = %f)",
                                                        hasConverged?"true":"false", variance);
                                }
                        }
                        else if(newCloudXYZ->size() > minPoints)
                        {
                                output.setIdentity();
                                _previousCloud = newCloudXYZ;
                        }
                }
        }
        else
        {
                UERROR("Depth is empty?!?");
        }

        if(info)
        {
                info->variance = variance;
        }

        UINFO("Odom update time = %fs hasConverged=%s variance=%f cloud=%d",
                        timer.elapsed(),
                        hasConverged?"true":"false",
                        variance,
                        (int)(_pointToPlane?_previousCloudNormal->size():_previousCloud->size()));

        return output;
}

} // namespace rtabmap