icp_customized.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 <cassert>
#include <iostream>
#include "boost/filesystem.hpp"

using namespace std;

void validateArgs(int argc, char *argv[], bool& isCSV);

int main(int argc, char *argv[])
{
        bool isCSV = true;
        validateArgs(argc, argv, isCSV);
        
        typedef PointMatcher<float> PM;
        typedef PM::DataPoints DP;

        // Load point clouds
        const DP ref(DP::load(argv[1]));
        const DP data(DP::load(argv[2]));

        // Create the default ICP algorithm
        PM::ICP icp;
        PointMatcherSupport::Parametrizable::Parameters params;
        std::string name;
        
        // Uncomment for console outputs
        setLogger(PM::get().LoggerRegistrar.create("FileLogger"));

        // Prepare reading filters
        name = "MinDistDataPointsFilter";
        params["minDist"] = "1.0";
        std::shared_ptr<PM::DataPointsFilter> minDist_read =
                PM::get().DataPointsFilterRegistrar.create(name, params);
        params.clear();

        name = "RandomSamplingDataPointsFilter";
        params["prob"] = "0.05";
        std::shared_ptr<PM::DataPointsFilter> rand_read =
                PM::get().DataPointsFilterRegistrar.create(name, params);
        params.clear();

        // Prepare reference filters
        name = "MinDistDataPointsFilter";
        params["minDist"] = "1.0";
        std::shared_ptr<PM::DataPointsFilter> minDist_ref =
                PM::get().DataPointsFilterRegistrar.create(name, params);
        params.clear();

        name = "RandomSamplingDataPointsFilter";
        params["prob"] = "0.05";
        std::shared_ptr<PM::DataPointsFilter> rand_ref =
                PM::get().DataPointsFilterRegistrar.create(name, params);
        params.clear();

        // Prepare matching function
        name = "KDTreeMatcher";
        params["knn"] = "1";
        params["epsilon"] = "3.16";
        std::shared_ptr<PM::Matcher> kdtree =
                PM::get().MatcherRegistrar.create(name, params);
        params.clear();

        // Prepare outlier filters
        name = "TrimmedDistOutlierFilter";
        params["ratio"] = "0.75";
        std::shared_ptr<PM::OutlierFilter> trim =
                PM::get().OutlierFilterRegistrar.create(name, params);
        params.clear();

        // Prepare error minimization
        name = "PointToPointErrorMinimizer";
        std::shared_ptr<PM::ErrorMinimizer> pointToPoint =
                PM::get().ErrorMinimizerRegistrar.create(name);

        // Prepare transformation checker filters
        name = "CounterTransformationChecker";
        params["maxIterationCount"] = "150";
        std::shared_ptr<PM::TransformationChecker> maxIter =
                PM::get().TransformationCheckerRegistrar.create(name, params);
        params.clear();

        name = "DifferentialTransformationChecker";
        params["minDiffRotErr"] = "0.001";
        params["minDiffTransErr"] = "0.01";
        params["smoothLength"] = "4";
        std::shared_ptr<PM::TransformationChecker> diff =
                PM::get().TransformationCheckerRegistrar.create(name, params);
        params.clear();

        // Prepare inspector
        std::shared_ptr<PM::Inspector> nullInspect =
                PM::get().InspectorRegistrar.create("NullInspector");

//      name = "VTKFileInspector";
//      params["dumpDataLinks"] = "1";
//      params["dumpReading"] = "1";
//      params["dumpReference"] = "1";
//      std::shared_ptr<PM::Inspector> vtkInspect =
//              PM::get().InspectorRegistrar.create(name, params);
//      params.clear();

        // Prepare transformation
        std::shared_ptr<PM::Transformation> rigidTrans =
                PM::get().TransformationRegistrar.create("RigidTransformation");
        
        // Build ICP solution
        icp.readingDataPointsFilters.push_back(minDist_read);
        icp.readingDataPointsFilters.push_back(rand_read);

        icp.referenceDataPointsFilters.push_back(minDist_ref);
        icp.referenceDataPointsFilters.push_back(rand_ref);

        icp.matcher = kdtree;
        
        icp.outlierFilters.push_back(trim);
        
        icp.errorMinimizer = pointToPoint;

        icp.transformationCheckers.push_back(maxIter);
        icp.transformationCheckers.push_back(diff);
        
        // toggle to write vtk files per iteration
        icp.inspector = nullInspect;
        //icp.inspector = vtkInspect;

        icp.transformations.push_back(rigidTrans);

        // Compute the transformation to express data in ref
        PM::TransformationParameters T = icp(data, ref);

        // Transform data to express it in ref
        DP data_out(data);
        icp.transformations.apply(data_out, T);
        
        // Safe files to see the results
        ref.save("test_ref.vtk");
        data.save("test_data_in.vtk");
        data_out.save("test_data_out.vtk");
        cout << "Final transformation:" << endl << T << endl;

        return 0;
}

void validateArgs(int argc, char *argv[], bool& isCSV )
{
        if (argc != 3)
        {
                cerr << "Wrong number of arguments, usage " << argv[0] << " reference.csv reading.csv" << endl;
                cerr << "Will create 3 vtk files for inspection: ./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;
                exit(1);
        }
}