icp_advance_api.cpp

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*

Copyright (c) 2010--2012,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
        * Redistributions of source code must retain the above copyright
          notice, this list of conditions and the following disclaimer.
        * Redistributions in binary form must reproduce the above copyright
          notice, this list of conditions and the following disclaimer in the
          documentation and/or other materials provided with the distribution.
        * Neither the name of the <organization> nor the
          names of its contributors may be used to endorse or promote products
          derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

*/

#include "pointmatcher/PointMatcher.h"
#include "pointmatcher/Bibliography.h"

#include "boost/filesystem.hpp"

#include <cassert>
#include <fstream>
#include <iostream>
#include <algorithm>

using namespace std;
using namespace PointMatcherSupport;

typedef PointMatcher<float> PM;
typedef PM::DataPoints DP;
typedef PM::Parameters Parameters;

void listModules();
int validateArgs(const int argc, const char *argv[],
                                 bool& isTransfoSaved,
                                 string& configFile,
                                 string& outputBaseFile,
                                 string& initTranslation, string& initRotation);
PM::TransformationParameters parseTranslation(string& translation,
                                                                                          const int cloudDimension);
PM::TransformationParameters parseRotation(string& rotation,
                                                                                   const int cloudDimension);
void usage(const char *argv[]);

int main(int argc, const char *argv[])
{
        bool isTransfoSaved = false;
        string configFile;
        string outputBaseFile("test");
        string initTranslation("0,0,0");
        string initRotation("1,0,0;0,1,0;0,0,1");
        const int ret = validateArgs(argc, argv, isTransfoSaved, configFile,
                                                                 outputBaseFile, initTranslation, initRotation);
        if (ret != 0)
        {
                return ret;
        }
        const char *refFile(argv[argc-2]);
        const char *dataFile(argv[argc-1]);

        // Load point clouds
        const DP ref(DP::load(refFile));
        const DP data(DP::load(dataFile));

        // Create the default ICP algorithm
        PM::ICP icp;

        if (configFile.empty())
        {
                // See the implementation of setDefault() to create a custom ICP algorithm
                icp.setDefault();
        }
        else
        {
                // load YAML config
                ifstream ifs(configFile.c_str());
                if (!ifs.good())
                {
                        cerr << "Cannot open config file " << configFile << ", usage:"; usage(argv); exit(1);
                }
                icp.loadFromYaml(ifs);
        }

        int cloudDimension = ref.getEuclideanDim();
        
        if (!(cloudDimension == 2 || cloudDimension == 3)) 
        {
                cerr << "Invalid input point clouds dimension" << endl;
                exit(1);
        }

        PM::TransformationParameters translation =
                        parseTranslation(initTranslation, cloudDimension);
        PM::TransformationParameters rotation =
                        parseRotation(initRotation, cloudDimension);
        PM::TransformationParameters initTransfo = translation*rotation;
        
        std::shared_ptr<PM::Transformation> rigidTrans;
        rigidTrans = PM::get().REG(Transformation).create("RigidTransformation");

        if (!rigidTrans->checkParameters(initTransfo)) {
                cerr << endl
                         << "Initial transformation is not rigid, identiy will be used"
                         << endl;
                initTransfo = PM::TransformationParameters::Identity(
                                        cloudDimension+1,cloudDimension+1);
        }

        const DP initializedData = rigidTrans->compute(data, initTransfo);

        // Compute the transformation to express data in ref
        PM::TransformationParameters T = icp(initializedData, ref);
        float matchRatio = icp.errorMinimizer->getWeightedPointUsedRatio();
        cout << "match ratio: " <<  matchRatio << endl;

        

        // Transform data to express it in ref
        DP data_out(initializedData);
        icp.transformations.apply(data_out, T);

        cout << endl << "------------------" << endl;
        
        // START demo 1
        // Test for retrieving Haussdorff distance (with outliers). We generate new matching module 
        // specifically for this purpose. 
        //
        // INPUTS:
        // ref: point cloud used as reference
        // data_out: aligned point cloud (using the transformation outputted by icp)
        // icp: icp object used to aligned the point clouds

        
        // Structure to hold future match results
        PM::Matches matches;

        Parametrizable::Parameters params;
        params["knn"] =  toParam(1); // for Hausdorff distance, we only need the first closest point
        params["epsilon"] =  toParam(0);
        
        std::shared_ptr<PM::Matcher> matcherHausdorff = PM::get().MatcherRegistrar.create("KDTreeMatcher", params);
        
        // max. distance from reading to reference
        matcherHausdorff->init(ref);
        matches = matcherHausdorff->findClosests(data_out);
        float maxDist1 = matches.getDistsQuantile(1.0);
        float maxDistRobust1 = matches.getDistsQuantile(0.85);

        // max. distance from reference to reading
        matcherHausdorff->init(data_out);
        matches = matcherHausdorff->findClosests(ref);
        float maxDist2 = matches.getDistsQuantile(1.0);
        float maxDistRobust2 = matches.getDistsQuantile(0.85);

        float haussdorffDist = std::max(maxDist1, maxDist2);
        float haussdorffQuantileDist = std::max(maxDistRobust1, maxDistRobust2);

        cout << "Haussdorff distance: " << std::sqrt(haussdorffDist) << " m" << endl;
        cout << "Haussdorff quantile distance: " << std::sqrt(haussdorffQuantileDist) <<  " m" << endl;

        // START demo 2
        // Test for retrieving paired point mean distance without outliers. We reuse the same module used for 
        // the icp object.
        //
        // INPUTS:
        // ref: point cloud used as reference
        // data_out: aligned point cloud (using the transformation outputted by icp)
        // icp: icp object used to aligned the point clouds
        
        // initiate the matching with unfiltered point cloud
        icp.matcher->init(ref);

        // extract closest points
        matches = icp.matcher->findClosests(data_out);

        // weight paired points
        const PM::OutlierWeights outlierWeights = icp.outlierFilters.compute(data_out, ref, matches);
        
        // generate tuples of matched points and remove pairs with zero weight
        const PM::ErrorMinimizer::ErrorElements matchedPoints( data_out, ref, outlierWeights, matches);

        // extract relevant information for convenience
        const int dim = matchedPoints.reading.getEuclideanDim();
        const int nbMatchedPoints = matchedPoints.reading.getNbPoints(); 
        const PM::Matrix matchedRead = matchedPoints.reading.features.topRows(dim);
        const PM::Matrix matchedRef = matchedPoints.reference.features.topRows(dim);
        
        // compute mean distance
        const PM::Matrix dist = (matchedRead - matchedRef).colwise().norm(); // replace that by squaredNorm() to save computation time
        const float meanDist = dist.sum()/nbMatchedPoints;
        cout << "Robust mean distance: " << meanDist << " m" << endl;

        // END demo

        cout << "------------------" << endl << endl;


        // Safe files to see the results
        ref.save(outputBaseFile + "_ref.vtk");
        data.save(outputBaseFile + "_data_in.vtk");
        data_out.save(outputBaseFile + "_data_out.vtk");
        if(isTransfoSaved) {
                ofstream transfoFile;
                string initFileName = outputBaseFile + "_init_transfo.txt";
                string icpFileName = outputBaseFile + "_icp_transfo.txt";
                string completeFileName = outputBaseFile + "_complete_transfo.txt";

                transfoFile.open(initFileName.c_str());
                if(transfoFile.is_open()) {
                        transfoFile << initTransfo << endl;
                        transfoFile.close();
                } else {
                        cout << "Unable to write the initial transformation file\n" << endl;
                }

                transfoFile.open(icpFileName.c_str());
                if(transfoFile.is_open()) {
                        transfoFile << T << endl;
                        transfoFile.close();
                } else {
                        cout << "Unable to write the ICP transformation file\n" << endl;
                }

                transfoFile.open(completeFileName.c_str());
                if(transfoFile.is_open()) {
                        transfoFile << T*initTransfo << endl;
                        transfoFile.close();
                } else {
                        cout << "Unable to write the complete transformation file\n" << endl;
                }
        }
        else {
                cout << "ICP transformation:" << endl << T << endl;
        }

        return 0;
}

// The following code allows to dump all existing modules
template<typename R>
void dumpRegistrar(const PM& pm, const R& registrar, const std::string& name,
                                   CurrentBibliography& bib)
{
        cout << "* " << name << " *\n" << endl;
        for (BOOST_AUTO(it, registrar.begin()); it != registrar.end(); ++it)
        {
                cout << it->first << endl;
                cout << getAndReplaceBibEntries(it->second->description(), bib) << endl;
                cout << it->second->availableParameters() << endl;
        }
        cout << endl;
}

#define DUMP_REGISTRAR_CONTENT(pm, name, bib) \
        dumpRegistrar(pm, pm.REG(name), # name, bib);

void listModules()
{
        CurrentBibliography bib;

        DUMP_REGISTRAR_CONTENT(PM::get(), Transformation, bib)
                        DUMP_REGISTRAR_CONTENT(PM::get(), DataPointsFilter, bib)
                        DUMP_REGISTRAR_CONTENT(PM::get(), Matcher, bib)
                        DUMP_REGISTRAR_CONTENT(PM::get(), OutlierFilter, bib)
                        DUMP_REGISTRAR_CONTENT(PM::get(), ErrorMinimizer, bib)
                        DUMP_REGISTRAR_CONTENT(PM::get(), TransformationChecker, bib)
                        DUMP_REGISTRAR_CONTENT(PM::get(), Inspector, bib)
                        DUMP_REGISTRAR_CONTENT(PM::get(), Logger, bib)

                        cout << "* Bibliography *" << endl << endl;
        bib.dump(cout);
}

// Make sure that the command arguments make sense
int validateArgs(const int argc, const char *argv[],
                                 bool& isTransfoSaved,
                                 string& configFile,
                                 string& outputBaseFile,
                                 string& initTranslation, string& initRotation)
{
        if (argc == 1)
        {
                cerr << "Not enough arguments, usage:";
                usage(argv);
                return 1;
        }
        else if (argc == 2)
        {
                if (string(argv[1]) == "-l")
                {
                        listModules();
                        return -1; // we use -1 to say that we wish to quit but in a normal way
                }
                else
                {
                        cerr << "Wrong option, usage:";
                        usage(argv);
                        return 2;
                }
        }

        const int endOpt(argc - 2);
        for (int i = 1; i < endOpt; i += 2)
        {
                const string opt(argv[i]);
                if (i + 1 > endOpt)
                {
                        cerr << "Missing value for option " << opt << ", usage:"; usage(argv); exit(1);
                }
                if (opt == "--isTransfoSaved") {
                        if (strcmp(argv[i+1], "1") == 0 || strcmp(argv[i+1], "true") == 0) {
                                isTransfoSaved = true;
                        }
                        else if (strcmp(argv[i+1], "0") == 0
                                         || strcmp(argv[i+1],"false") == 0) {
                                isTransfoSaved = false;
                        }
                        else {
                                cerr << "Invalid value for parameter isTransfoSaved." << endl
                                         << "Value must be true or false or 1 or 0." << endl
                                         << "Default value will be used." << endl;
                        }
                }
                else if (opt == "--config") {
                        configFile = argv[i+1];
                }
                else if (opt == "--output") {
                        outputBaseFile = argv[i+1];
                }
                else if (opt == "--initTranslation") {
                        initTranslation = argv[i+1];
                }
                else if (opt == "--initRotation") {
                        initRotation = argv[i+1];
                }
                else
                {
                        cerr << "Unknown option " << opt << ", usage:"; usage(argv); exit(1);
                }
        }
        return 0;
}

PM::TransformationParameters parseTranslation(string& translation,
                                                                                          const int cloudDimension) {
        PM::TransformationParameters parsedTranslation;
        parsedTranslation = PM::TransformationParameters::Identity(
                                cloudDimension+1,cloudDimension+1);

        translation.erase(std::remove(translation.begin(), translation.end(), '['),
                                          translation.end());
        translation.erase(std::remove(translation.begin(), translation.end(), ']'),
                                          translation.end());
        std::replace( translation.begin(), translation.end(), ',', ' ');
        std::replace( translation.begin(), translation.end(), ';', ' ');

        float translationValues[3] = {0};
        stringstream translationStringStream(translation);
        for( int i = 0; i < cloudDimension; i++) {
                if(!(translationStringStream >> translationValues[i])) {
                        cerr << "An error occured while trying to parse the initial "
                                 << "translation." << endl
                                 << "No initial translation will be used" << endl;
                        return parsedTranslation;
                }
        }
        float extraOutput = 0;
        if((translationStringStream >> extraOutput)) {
                cerr << "Wrong initial translation size" << endl
                         << "No initial translation will be used" << endl;
                return parsedTranslation;
        }

        for( int i = 0; i < cloudDimension; i++) {
                parsedTranslation(i,cloudDimension) = translationValues[i];
        }

        return parsedTranslation;
}

PM::TransformationParameters parseRotation(string &rotation,
                                                                                   const int cloudDimension){
        PM::TransformationParameters parsedRotation;
        parsedRotation = PM::TransformationParameters::Identity(
                                cloudDimension+1,cloudDimension+1);

        rotation.erase(std::remove(rotation.begin(), rotation.end(), '['),
                                   rotation.end());
        rotation.erase(std::remove(rotation.begin(), rotation.end(), ']'),
                                   rotation.end());
        std::replace( rotation.begin(), rotation.end(), ',', ' ');
        std::replace( rotation.begin(), rotation.end(), ';', ' ');

        float rotationMatrix[9] = {0};
        stringstream rotationStringStream(rotation);
        for( int i = 0; i < cloudDimension*cloudDimension; i++) {
                if(!(rotationStringStream >> rotationMatrix[i])) {
                        cerr << "An error occured while trying to parse the initial "
                                 << "rotation." << endl
                                 << "No initial rotation will be used" << endl;
                        return parsedRotation;
                }
        }
        float extraOutput = 0;
        if((rotationStringStream >> extraOutput)) {
                cerr << "Wrong initial rotation size" << endl
                         << "No initial rotation will be used" << endl;
                return parsedRotation;
        }

        for( int i = 0; i < cloudDimension*cloudDimension; i++) {
                parsedRotation(i/cloudDimension,i%cloudDimension) = rotationMatrix[i];
        }

        return parsedRotation;
}

// Dump command-line help
void usage(const char *argv[])
{
        //TODO: add new options --isTransfoSaved, --initTranslation, --initRotation
        cerr << endl << endl;
        cerr << "* To list modules:" << endl;
        cerr << "  " << argv[0] << " -l" << endl;
        cerr << endl;
        cerr << "* To run ICP:" << endl;
        cerr << "  " << argv[0] << " [OPTIONS] reference.csv reading.csv" << endl;
        cerr << endl;
        cerr << "OPTIONS can be a combination of:" << endl;
        cerr << "--config YAML_CONFIG_FILE  Load the config from a YAML file (default: default parameters)" << endl;
        cerr << "--output BASEFILENAME      Name of output files (default: test)" << endl;
        cerr << "--initTranslation [x,y,z]  Add an initial 3D translation before applying ICP (default: 0,0,0)" << endl;
        cerr << "--initTranslation [x,y]    Add an initial 2D translation before applying ICP (default: 0,0)" << endl;
        cerr << "--initRotation [r00,r01,r02,r10,r11,r12,r20,r21,r22]" << endl;
        cerr << "                           Add an initial 3D rotation before applying ICP (default: 1,0,0,0,1,0,0,0,1)" << endl;
        cerr << "--initRotation [r00,r01,r10,r11]" << endl;
        cerr << "                           Add an initial 2D rotation before applying ICP (default: 1,0,0,1)" << endl;
        cerr << "--isTransfoSaved BOOL      Save transformation matrix in three different files:" << endl;
        cerr << "                             - BASEFILENAME_inti_transfo.txt" << endl;
        cerr << "                             - BASEFILENAME_icp_transfo.txt" << endl;
        cerr << "                             - BASEFILENAME_complete_transfo.txt" << endl;
        cerr << "                           (default: false)" << endl;
        cerr << endl;
        cerr << "Running this program with a VTKFileInspector as Inspector will create three" << endl;
        cerr << "vtk ouptput files: ./test_ref.vtk, ./test_data_in.vtk and ./test_data_out.vtk" << endl;
        cerr << endl << "2D Example:" << endl;
        cerr << "  " << argv[0] << " ../examples/data/2D_twoBoxes.csv ../examples/data/2D_oneBox.csv" << endl;
        cerr << endl << "3D Example:" << endl;
        cerr << "  " << argv[0] << " ../examples/data/car_cloud400.csv ../examples/data/car_cloud401.csv" << endl;
        cerr << endl;
}