projective_icp.hpp

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#pragma once

#include <kfusion/types.hpp>

namespace kfusion
{
    namespace cuda
    {
        class ProjectiveICP
        {
        public:
            enum { MAX_PYRAMID_LEVELS = 4 };

            typedef std::vector<Depth> DepthPyr;
            typedef std::vector<Cloud> PointsPyr;
            typedef std::vector<Normals> NormalsPyr;

            ProjectiveICP();
            virtual ~ProjectiveICP();

            float getDistThreshold() const;
            void setDistThreshold(float distance);

            float getAngleThreshold() const;
            void setAngleThreshold(float angle);

            void setIterationsNum(const std::vector<int>& iters);
            int getUsedLevelsNum() const;

            virtual bool estimateTransform(Affine3f& affine, const Intr& intr, const Frame& curr, const Frame& prev);

            virtual bool estimateTransform(Affine3f& affine, const Intr& intr, const DepthPyr& dcurr, const NormalsPyr ncurr, const DepthPyr dprev, const NormalsPyr nprev);
            virtual bool estimateTransform(Affine3f& affine, const Intr& intr, const PointsPyr& vcurr, const NormalsPyr ncurr, const PointsPyr vprev, const NormalsPyr nprev);

            //static Vec3f rodrigues2(const Mat3f& matrix);
        private:
            std::vector<int> iters_;
            float angle_thres_;
            float dist_thres_;
            DeviceArray2D<float> buffer_;

            struct StreamHelper;
            cv::Ptr<StreamHelper> shelp_;
        };
    }
}