build_map.cpp
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3 /*
4 
5 Copyright (c) 2010--2012,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
9 
10 All rights reserved.
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23 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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34 */
35 
37 #include "pointmatcher/IO.h"
38 #include <cassert>
39 #include <iostream>
40 #include <fstream>
41 #include <boost/format.hpp>
42 #include <boost/filesystem/path.hpp>
43 #include <boost/filesystem/operations.hpp>
44 #include <boost/lexical_cast.hpp>
45 
46 using namespace std;
47 using namespace PointMatcherSupport;
48 
49 void validateArgs(int argc, char *argv[]);
50 void setupArgs(int argc, char *argv[], unsigned int& startId, unsigned int& endId, string& extension);
51 vector<string> loadYamlFile(string listFileName);
52 
60 int main(int argc, char *argv[])
61 {
62  validateArgs(argc, argv);
63 
64  typedef PointMatcher<float> PM;
67  typedef PM::DataPoints DP;
68 
69  // Process arguments
70  PMIO::FileInfoVector list(argv[1]);
71  const unsigned totalPointCount = boost::lexical_cast<unsigned>(argv[2]);
72  string outputFileName(argv[3]);
73 
74 
75  setLogger(PM::get().LoggerRegistrar.create("FileLogger"));
76 
77  PM::DataPoints mapCloud;
78 
79  PM::DataPoints lastCloud, newCloud;
80  TP T = TP::Identity(4,4);
81 
82  // Define transformation chain
83  std::shared_ptr<PM::Transformation> transformation;
84  transformation = PM::get().REG(Transformation).create("RigidTransformation");
85 
86  // This filter will remove a sphere of 1 m radius. Easy way to remove the sensor self-scanning.
87  std::shared_ptr<PM::DataPointsFilter> removeScanner =
88  PM::get().DataPointsFilterRegistrar.create(
89  "MinDistDataPointsFilter",
90  {{"minDist", "1.0"}}
91  );
92 
93  // This filter will randomly remove 35% of the points.
94  std::shared_ptr<PM::DataPointsFilter> randSubsample =
95  PM::get().DataPointsFilterRegistrar.create(
96  "RandomSamplingDataPointsFilter",
97  {{"prob", toParam(0.65)}}
98  );
99 
100  // For a complete description of filter, see
101  // https://github.com/norlab-ulaval/libpointmatcher/blob/master/doc/Datafilters.md
102  std::shared_ptr<PM::DataPointsFilter> normalFilter =
103  PM::get().DataPointsFilterRegistrar.create(
104  "SurfaceNormalDataPointsFilter",
105  {
106  {"knn", toParam(10)},
107  {"epsilon", toParam(5)},
108  {"keepNormals",toParam(1)},
109  {"keepDensities",toParam(0)}
110  }
111  );
112 
113  std::shared_ptr<PM::DataPointsFilter> densityFilter =
114  PM::get().DataPointsFilterRegistrar.create(
115  "SurfaceNormalDataPointsFilter",
116  {
117  {"knn", "10"},
118  {"epsilon", "5"},
119  {"keepDensities","1"},
120  {"keepNormals","0"}
121  }
122  );
123 
124  std::shared_ptr<PM::DataPointsFilter> observationDirectionFilter =
125  PM::get().DataPointsFilterRegistrar.create(
126  "ObservationDirectionDataPointsFilter"
127  );
128 
129  std::shared_ptr<PM::DataPointsFilter> orientNormalFilter =
130  PM::get().DataPointsFilterRegistrar.create(
131  "OrientNormalsDataPointsFilter",
132  {{"towardCenter", "1"}}
133  );
134 
135  std::shared_ptr<PM::DataPointsFilter> uniformSubsample =
136  PM::get().DataPointsFilterRegistrar.create(
137  "MaxDensityDataPointsFilter",
138  {{"maxDensity", toParam(30)}}
139  );
140 
141  std::shared_ptr<PM::DataPointsFilter> shadowFilter =
142  PM::get().DataPointsFilterRegistrar.create(
143  "ShadowDataPointsFilter"
144  );
145 
146  for(unsigned i=0; i < list.size(); i++)
147  {
148  cout << endl << "-----------------------------" << endl;
149  cout << "Loading " << list[i].readingFileName;
150  newCloud = DP::load(list[i].readingFileName);
151 
152  cout << " found " << newCloud.getNbPoints() << " points. " << endl;
153 
154 
155  if(list[i].groundTruthTransformation.rows() != 0)
156  T = list[i].groundTruthTransformation;
157  else
158  {
159  cout << "ERROR: the field gTXX (ground truth) is required" << endl;
160  abort();
161  }
162 
164 
165  // Remove the scanner
166  newCloud = removeScanner->filter(newCloud);
167 
168 
169  // Accelerate the process and dissolve lines
170  newCloud = randSubsample->filter(newCloud);
171 
172  // Build filter to remove shadow points and down-sample
173  newCloud = normalFilter->filter(newCloud);
174  newCloud = observationDirectionFilter->filter(newCloud);
175  newCloud = orientNormalFilter->filter(newCloud);
176  newCloud = shadowFilter->filter(newCloud);
177 
178  // Transforme pointCloud
179  cout << "Transformation matrix: " << endl << T << endl;
180  newCloud = transformation->compute(newCloud, T);
181 
182  if(i==0)
183  {
184  mapCloud = newCloud;
185  }
186  else
187  {
188  mapCloud.concatenate(newCloud);
189 
190  // Control point cloud size
191  double probToKeep = totalPointCount/(double)mapCloud.features.cols();
192  if(probToKeep < 1)
193  {
194 
195  mapCloud = densityFilter->filter(mapCloud);
196  mapCloud = uniformSubsample->filter(mapCloud);
197 
198  probToKeep = totalPointCount/(double)mapCloud.features.cols();
199 
200  if(probToKeep < 1)
201  {
202  cout << "Randomly keep " << probToKeep*100 << "\% points" << endl;
203  randSubsample = PM::get().DataPointsFilterRegistrar.create(
204  "RandomSamplingDataPointsFilter",
205  {{"prob", toParam(probToKeep)}}
206  );
207  mapCloud = randSubsample->filter(mapCloud);
208  }
209  }
210  }
211 
212  stringstream outputFileNameIter;
213  outputFileNameIter << boost::filesystem::path(outputFileName).stem().c_str() << "_" << i << ".vtk";
214 
215  mapCloud.save(outputFileNameIter.str());
216  }
217 
218  mapCloud = densityFilter->filter(mapCloud);
219  mapCloud = uniformSubsample->filter(mapCloud);
220 
221  mapCloud = densityFilter->filter(mapCloud);
222 
223  cout << endl ;
224  cout << "-----------------------------" << endl;
225  cout << "-----------------------------" << endl;
226  cout << "Final number of points in the map: " << mapCloud.getNbPoints() << endl;
227  mapCloud.save(outputFileName);
228  cout << endl ;
229 
230  return 0;
231 }
232 
233 void validateArgs(int argc, char *argv[])
234 {
235  if (!(argc == 4))
236  {
237  cerr << endl;
238  cerr << "Error in command line, usage " << argv[0] << " listOfFiles.csv maxPoint outputFileName.{vtk,csv,ply}" << endl;
239  cerr << endl;
240  cerr << " example using file from example/data: " << endl;
241  cerr << " " << argv[0] << " carCloudList.csv 30000 test.vtk" << endl;
242  cerr << endl;
243  cerr << "Note: the file listOfFiles.csv need to include a serialize transformation matrix. For example:" << endl;
244  cerr << " fileName1.vtk, T00, T01, T02, T03, T10, T11, T12, T13, T20, T21, T22, T23, T30, T31, T32" << endl;
245  cerr << endl;
246  cerr << "Where Txy would be a 4x4 transformation matrix:" << endl;
247  cerr << " [T00 T01 T02 T03] " << endl;
248  cerr << " [T10 T11 T12 T13] " << endl;
249  cerr << " [T20 T21 T22 T23] " << endl;
250  cerr << " [T30 T31 T32 T33] (i.e., 0,0,0,1)" << endl;
251  cerr << endl;
252  cerr << "For more data visit:" << endl;
253  cerr << " http://projects.asl.ethz.ch/datasets/doku.php?id=laserregistration:laserregistration" << endl;
254  cerr << endl;
255 
256  abort();
257  }
258 }
259 
260 
261 
PointMatcherIO
IO Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: IO.h:43
PointMatcher< float >::Parameters
Parametrizable::Parameters Parameters
alias
Definition: PointMatcher.h:186
PointMatcherSupport::toParam
std::string toParam(const S &value)
Return the string value using lexical_cast.
Definition: Parametrizable.h:123
build_map.T
T
Definition: build_map.py:34
DataPoints
PM::DataPoints DataPoints
Definition: pypoint_matcher_helper.h:16
PointMatcher< float >
PointMatcherSupport::setLogger
void setLogger(std::shared_ptr< Logger > newLogger)
Set a new logger, protected by a mutex.
Definition: Logger.cpp:98
PointMatcher::Transformation
A function that transforms points and their descriptors given a transformation matrix.
Definition: PointMatcher.h:404
loadYamlFile
vector< string > loadYamlFile(string listFileName)
align_sequence.params
params
Definition: align_sequence.py:13
PMIO
PointMatcherIO< float > PMIO
Definition: eval_solution.cpp:62
PointMatcherSupport::Registrar::create
std::shared_ptr< Interface > create(const std::string &name, const Parametrizable::Parameters &params=Parametrizable::Parameters()) const
Create an instance.
Definition: Registrar.h:161
PointMatcherIO::FileInfoVector
A vector of file info, to be used in batch processing.
Definition: IO.h:245
validateArgs
void validateArgs(int argc, char *argv[])
Definition: build_map.cpp:233
setupArgs
void setupArgs(int argc, char *argv[], unsigned int &startId, unsigned int &endId, string &extension)
main
int main(int argc, char *argv[])
Definition: build_map.cpp:60
std
TP
PM::TransformationParameters TP
Definition: eval_solution.cpp:63
build_map.transformation
transformation
Definition: build_map.py:37
PointMatcher< float >::get
static const PointMatcher & get()
Return instances.
Definition: Registry.cpp:146
PointMatcherSupport
Functions and classes that are not dependant on scalar type are defined in this namespace.
Definition: Bibliography.cpp:45
DP
PM::DataPoints DP
Definition: convert.cpp:45
PM
PointMatcher< float > PM
Definition: eval_solution.cpp:61
PointMatcher::DataPoints::load
static DataPoints load(const std::string &fileName)
Load a point cloud from a file, determine format from extension.
Definition: pointmatcher/IO.cpp:375
PointMatcher.h
public interface
IO.h
PointMatcherSupport::Registrar
A factor for subclasses of Interface.
Definition: Registrar.h:59
PointMatcher< float >::TransformationParameters
Matrix TransformationParameters
A matrix holding the parameters a transformation.
Definition: PointMatcher.h:182


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