CovarianceSampling.cpp

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*
 
Copyright (c) 2010--2018,
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.
 
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modification, are permitted provided that the following conditions are met:
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      derived from this software without specific prior written permission.
 
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*/
#include "CovarianceSampling.h"
 
#include <vector>
#include <list>
#include <utility>
#include <unordered_map>
 
// Eigenvalues
#include "Eigen/QR"
#include "Eigen/Eigenvalues"
 
// CovarianceSamplingDataPointsFilter
template <typename T>
CovarianceSamplingDataPointsFilter<T>::CovarianceSamplingDataPointsFilter(const Parameters& params) :
        PointMatcher<T>::DataPointsFilter("CovarianceSamplingDataPointsFilter", 
                CovarianceSamplingDataPointsFilter::availableParameters(), params),
        nbSample{Parametrizable::get<std::size_t>("nbSample")}
{
        try 
        {
                const std::uint8_t tnm = this->template get<std::uint8_t>("torqueNorm");
                normalizationMethod = TorqueNormMethod(tnm);
        }
        catch (const InvalidParameter& e) 
        {
                normalizationMethod = TorqueNormMethod::Lavg;
        }
}
 
template <typename T>
typename PointMatcher<T>::DataPoints
CovarianceSamplingDataPointsFilter<T>::filter(const DataPoints& input)
{
        DataPoints output(input);
        inPlaceFilter(output);
        return output;
}
 
template <typename T>
void CovarianceSamplingDataPointsFilter<T>::inPlaceFilter(DataPoints& cloud)
{       
        const std::size_t featDim(cloud.features.rows());
        assert(featDim == 4); //3D pts only
        
        //Check number of points
        const std::size_t nbPoints = cloud.getNbPoints();               
        if(nbSample >= nbPoints)
                return;
        
        //Check if there is normals info
        if (!cloud.descriptorExists("normals"))
                throw InvalidField("OrientNormalsDataPointsFilter: Error, cannot find normals in descriptors.");
 
        const auto& normals = cloud.getDescriptorViewByName("normals");
        
        std::vector<std::size_t> keepIndexes;
        keepIndexes.resize(nbSample);
        
        //A.1 and A.2 - Compute candidates
        std::vector<std::size_t> candidates ;
        candidates.resize(nbPoints);
        
        for (std::size_t i = 0; i < nbPoints; ++i) candidates[i] = i;
        
        const std::size_t nbCandidates = candidates.size();
        
        //Compute centroid
        Vector3 center;
        for(std::size_t i = 0; i < featDim - 1; ++i) center(i) = T(0.);
        
        for (std::size_t i = 0; i < nbCandidates; ++i)
                for (std::size_t f = 0; f <= 3; ++f)
                        center(f) += cloud.features(f,candidates[i]);
        
        for(std::size_t i = 0; i <= 3; ++i) center(i) /= T(nbCandidates);
        
        //Compute torque normalization
        T Lnorm = 1.0;
        
        if(normalizationMethod == TorqueNormMethod::L1)
        {
                Lnorm = 1.0;
        }
        else if(normalizationMethod == TorqueNormMethod::Lavg)
        {
                Lnorm = 0.0;
                for (std::size_t i = 0; i < nbCandidates; ++i)
                        Lnorm += (cloud.features.col(candidates[i]).head(3) - center).norm();
                Lnorm /= nbCandidates;
        }
        else if(normalizationMethod == TorqueNormMethod::Lmax)  
        {       
                const Vector minValues = cloud.features.rowwise().minCoeff();
                const Vector maxValues = cloud.features.rowwise().maxCoeff();
                const Vector3 radii = maxValues.head(3) - minValues.head(3);
 
                Lnorm = radii.maxCoeff() / 2.; //radii.mean() / 2.; 
        }
        
        //A.3 - Compute 6x6 covariance matrix + EigenVectors
        auto computeCovariance = [Lnorm, nbCandidates, &cloud, &center, &normals, &candidates](Matrix66 & cov) -> void {
                        //Compute F matrix, see Eq. (4)
                        Eigen::Matrix<T, 6, Eigen::Dynamic> F(6, nbCandidates);
        
                        for(std::size_t i = 0; i < nbCandidates; ++i)
                        {
                                const Vector3 p = cloud.features.col(candidates[i]).head(3) - center; // pi-c
                                const Vector3 ni = normals.col(candidates[i]).head(3);
                                
                                //compute (1 / L) * (pi - c) x ni 
                                F.template block<3, 1>(0, i) = (1. / Lnorm) * p.cross(ni);
                                //set ni part
                                F.template block<3, 1>(3, i) = ni;
                        }
 
                        // Compute the covariance matrix Cov = FF'
                        cov = F * F.transpose(); 
                };
                
        Matrix66 covariance;
        computeCovariance(covariance);
        
        Eigen::EigenSolver<Matrix66> solver(covariance);                
        const Matrix66  eigenVe = solver.eigenvectors().real();
        const Vector6   eigenVa = solver.eigenvalues().real();
        
        //B.1 - Compute the v-6 for each candidate
        std::vector<Vector6, Eigen::aligned_allocator<Vector6>> v; // v[i] = [(pi-c) x ni ; ni ]'
        v.resize(nbCandidates);
 
        for(std::size_t i = 0; i < nbCandidates; ++i)
        {
                const Vector3 p = cloud.features.col(candidates[i]).head(3) - center; // pi-c
                const Vector3 ni = normals.col(candidates[i]).head(3);
                
                v[i].template block<3, 1>(0, 0) = (1. / Lnorm) * p.cross(ni);
                v[i].template block<3, 1>(3, 0) = ni;
        }
        
        //B.2 - Compute the 6 sorted list based on dot product (vi . Xk) = magnitude, with Xk the kth-EigenVector
        std::vector<std::list<std::pair<int, T>>> L; // contain list of pair (index, magnitude) contribution to the eigens vectors
        L.resize(6);
        
        //sort by decreasing magnitude
        auto comp = [](const std::pair<int, T>& p1, const std::pair<int, T>& p2) -> bool {
                        return p1.second > p2.second;
                };
        
        for(std::size_t k = 0; k < 6; ++k)
        {               
                for(std::size_t i = 0; i < nbCandidates; ++i )
                {
                        L[k].push_back(std::make_pair(i, std::fabs( v[i].dot(eigenVe.template block<6,1>(0, k)) )));
                }
                
                L[k].sort(comp);
        }       
        
        std::vector<T> t(6, T(0.)); //contains the sums of squared magnitudes
        std::vector<bool> sampledPoints(nbCandidates, false); //maintain flag to avoid resampling the same point in an other list 
        
        for(std::size_t i = 0; i < nbSample; ++i)
        {
                //B.3 - Equally constrained all eigen vectors           
                // magnitude contribute to t_i where i is the indice of th least contrained eigen vector
                
                //Find least constrained vector
                std::size_t k = 0;
                for (std::size_t i = 0; i < 6; ++i)
                {
                        if (t[k] > t[i])
                                k = i;
                }
                // Add the point from the top of the list corresponding to the dimension to the set of samples
                while(sampledPoints[L[k].front().first])
                        L[k].pop_front(); //remove already sampled point
                
                //Get index to keep
                const std::size_t idToKeep = static_cast<std::size_t>(L[k].front().first);
                L[k].pop_front();
                        
                sampledPoints[idToKeep] = true; //set flag to avoid resampling
                                
                //B.4 - Update the running total
                for (std::size_t k = 0; k < 6; ++k)
                {
                        const T magnitude = v[idToKeep].dot(eigenVe.template block<6, 1>(0, k));
                        t[k] += (magnitude * magnitude);
                }
                
                keepIndexes[i] = candidates[idToKeep];
        }
 
        //TODO: evaluate performances between this solution and sorting the indexes
        // We build map of (old index to new index), in case we sample pts at the begining of the pointcloud
        std::unordered_map<std::size_t, std::size_t> mapidx;
        std::size_t idx = 0;
        
        for(std::size_t id : keepIndexes)
        {
                //retrieve index from lookup table if sampling in already switched element
                if(id<idx)
                        id = mapidx[id];
                //Switch columns id and idx
                cloud.swapCols(idx, id);        
                //Maintain new index position   
                mapidx[idx] = id;
                //Update index
                ++idx;
        }
        cloud.conservativeResize(nbSample);
}
 
// Compute c = Lambda_6 / Lambda_1, where Lambda_1 <= ... <= Lambda_6
// Stability is obtained where c is as close as possible of 1.0
template <typename T>
T CovarianceSamplingDataPointsFilter<T>::computeConditionNumber(const Matrix66 &cov)
{
        Vector eigenVa = Vector::Identity(6, 1);                
        
        Eigen::EigenSolver<Matrix66> solver(cov);               
        eigenVa = solver.eigenvalues().real();
 
        return eigenVa.maxCoeff() / eigenVa.minCoeff();
}
 
template struct CovarianceSamplingDataPointsFilter<float>;
template struct CovarianceSamplingDataPointsFilter<double>;