ColorICP.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package
 * @author
 * @date
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <Math/Math3d.h>
 
#include <float.h>
 
#include "ObjectHypothesis.h"
 
class CKdTree;
 
 
 
class CColorICP
{
public:
 
    struct CPointXYZRGBI
    {
        float x, y, z, r, g, b, i;
    };
 
    CColorICP();
 
    ~CColorICP();
 
    // this is the pointcloud in which we search for an object
    void SetScenePointcloud(std::vector<CPointXYZRGBI> aScenePoints);
 
    // estimate a transformation that fits the object pointcloud into the scene pointcloud
    // returns the average point distance value (in weighted xyzrgb-space) after the match, and the transformation of the object
    // fBestDistanceUntilNow=n: if the distance of the new transformation is smaller than 1.25*n, the result is refined more by reducing the fConvergenceDelta parameter (see below)
    float SearchObject(const std::vector<CPointXYZRGBI>& aObjectPoints, Mat3d& mRotation, Vec3d& vTranslation, const float fBestDistanceUntilNow = FLT_MAX);
 
    // set the parameters:
    // fColorWeight=n: a distance of 1 in color space will be weighted to be equivalent to a distance of n in cartesian space
    // fCutoffDistance=n: if two corresponding points have a distance of more than n, they are ignored. This is helpful when matching pointclouds with partial overlap
    // fConvergenceDelta=n: the algorithm stops when the relative improvement of the distance between the two clouds is less than n
    // nMaxIterations=n: the algorithm stops after at most n iterations
    void SetParameters(float fColorWeight = OLP_ICP_COLOR_DISTANCE_WEIGHT, float fCutoffDistance = FLT_MAX, float fConvergenceDelta = 0.01f, int nMaxIterations = 30, int nKdTreeBucketSize = 50); // 50, FLT_MAX, 0.0001f, 50, 50
 
    // returns the distances of object points to their nearest neighbour in the scene
    void GetPointMatchDistances(const std::vector<CPointXYZRGBI>& aObjectPoints, std::vector<float>& aPointMatchDistances);
    void GetNearestNeighbors(const std::vector<CPointXYZRGBI>& aObjectPoints, std::vector<CColorICP::CPointXYZRGBI>& aNeighbors, std::vector<float>& aPointMatchDistances);
 
    static CPointXYZRGBI ConvertToXYZRGBI(CHypothesisPoint* pPoint);
    static CHypothesisPoint* ConvertFromXYZRGBI(CPointXYZRGBI pPoint);
    static void TransformPointXYZRGBI(CPointXYZRGBI& pPoint, Mat3d mRotation, Vec3d vTranslation);
 
private:
 
    void FindNNBruteForce(const float* pPoint, float& fSquaredDistance, float*& pNeighbor);
 
    CKdTree* m_pKdTree;
    int m_nKdTreeBucketSize;
    std::vector<CPointXYZRGBI> m_aScenePoints;
    float m_fColorWeight, m_fCutoffDistance, m_fConvergenceDelta;
    int m_nMaxIterations;
 
    int m_nNumScenePoints;
    float** m_pValues;
};