ICP.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2024 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 <mrpt/system/CTimeLogger.h>
 
#include <cstdint>
#include <functional>
 
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 std::optional<mrpt::poses::CPose3DPDFGaussianInf>& prior           = std::nullopt,
        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);
 
    void attachToParameterSource(ParameterSource& source)
    {
        for (auto& o : matchers()) o->attachToParameterSource(source);
        for (auto& o : solvers()) o->attachToParameterSource(source);
        for (auto& o : quality_evaluators()) o.obj->attachToParameterSource(source);
    }
 
    virtual void initialize_derived(  //
        [[maybe_unused]] const mrpt::containers::yaml& p)
    {
        // Default: do nothing
    }
 
    struct IterationHook_Input
    {
        IterationHook_Input() = default;
 
        const metric_map_t*     pcGlobal         = nullptr;
        const metric_map_t*     pcLocal          = nullptr;
        const Pairings*         currentPairings  = nullptr;
        const OptimalTF_Result* currentSolution  = nullptr;
        uint32_t                currentIteration = 0;
    };
    struct IterationHook_Output
    {
        IterationHook_Output() = default;
 
        bool request_stop = false;
    };
 
    using iteration_hook_t = std::function<IterationHook_Output(const IterationHook_Input&)>;
 
    void setIterationHook(const iteration_hook_t& ih) { iteration_hook_ = ih; }
 
    const mrpt::system::CTimeLogger& profiler() const { return profiler_; }
    mrpt::system::CTimeLogger&       profiler() { return profiler_; }
 
   protected:
    solver_list_t       solvers_;
    matcher_list_t      matchers_;
    quality_eval_list_t quality_evaluators_ = {{QualityEvaluator_PairedRatio::Create(), 1.0}};
 
    iteration_hook_t iteration_hook_;
 
    mrpt::system::CTimeLogger profiler_{false /*disabled*/, "mp2p_icp::ICP"};
 
    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;
        Pairings            currentPairings;
        OptimalTF_Result    currentSolution;
        uint32_t            currentIteration = 0;
        LogRecord*          log              = nullptr;
    };
 
   private:
    ParameterSource ownParamSource_;
};
}  // namespace mp2p_icp