compute_overlap.cpp
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1 // kate: replace-tabs off; indent-width 4; indent-mode normal
2 // vim: ts=4:sw=4:noexpandtab
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.
11 
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13 modification, are permitted provided that the following conditions are met:
14  * Redistributions of source code must retain the above copyright
15  notice, this list of conditions and the following disclaimer.
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17  notice, this list of conditions and the following disclaimer in the
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19  * Neither the name of the <organization> nor the
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21  derived from this software without specific prior written permission.
22 
23 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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25 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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31 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
32 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
33 
34 */
35 
37 #include "pointmatcher/IO.h"
38 #include <cassert>
39 #include <iostream>
40 #include <iomanip>
41 #include <fstream>
42 #include <boost/format.hpp>
43 #include <boost/filesystem/path.hpp>
44 #include <boost/filesystem/operations.hpp>
45 #include <boost/lexical_cast.hpp>
46 
47 using namespace std;
48 using namespace PointMatcherSupport;
49 
50 void validateArgs(int argc, char *argv[]);
51 void setupArgs(int argc, char *argv[], unsigned int& startId, unsigned int& endId, string& extension);
52 
57 int main(int argc, char *argv[])
58 {
59  validateArgs(argc, argv);
60 
61  typedef PointMatcher<float> PM;
63  typedef PM::Matrix Matrix;
65  typedef PM::DataPoints DP;
66  typedef PM::Matches Matches;
67 
68  // Process arguments
69  PMIO::FileInfoVector list(argv[1]);
70  bool debugMode = false;
71  if (argc == 4)
72  debugMode = true;
73 
74  if(debugMode)
75  setLogger(PM::get().LoggerRegistrar.create("FileLogger"));
76 
77  // Prepare transformation chain for maps
78  std::shared_ptr<PM::Transformation> rigidTransform;
79  rigidTransform = PM::get().TransformationRegistrar.create("RigidTransformation");
80 
82  transformations.push_back(rigidTransform);
83 
85  TP Tread = TP::Identity(4,4);
86  DP mapCloud;
87  TP Tref = TP::Identity(4,4);
88 
89  unsigned startingI = 0;
90  unsigned listSizeI = list.size();
91  unsigned listSizeJ = list.size();
92  if(debugMode)
93  {
94  startingI = boost::lexical_cast<unsigned>(argv[2]);
95  listSizeI = startingI + 1;
96  }
97 
98  PM::Matrix overlapResults = PM::Matrix::Ones(listSizeJ, listSizeI);
99 
100  for(unsigned i = startingI; i < listSizeI; i++)
101  {
102  unsigned startingJ = i+1;
103  if(debugMode)
104  {
105  startingJ = boost::lexical_cast<unsigned>(argv[3]);
106  listSizeJ = startingJ + 1;
107  }
108  for(unsigned j = startingJ; j < listSizeJ; j++)
109  {
110  // Load point clouds
111  reading = DP::load(list[i].readingFileName);
112  reference = DP::load(list[j].readingFileName);
113 
114  cout << "Point cloud loaded" << endl;
115 
116  // Load transformation matrices
117  if(list[i].groundTruthTransformation.rows() != 0)
118  {
119  Tread = list[i].groundTruthTransformation;
120  Tref = list[j].groundTruthTransformation;
121  }
122  else
123  {
124  cout << "ERROR: fields gTXX (i.e., ground truth matrix) is required" << endl;
125  abort();
126  }
127 
128  // Move point cloud in global frame
129  transformations.apply(reading, Tread);
131 
132  // Preprare filters
133  std::shared_ptr<PM::DataPointsFilter> subSample =
134  PM::get().DataPointsFilterRegistrar.create(
135  "RandomSamplingDataPointsFilter",
136  {{"prob", "0.5"}}
137  );
138 
139  std::shared_ptr<PM::DataPointsFilter> maxDensity =
140  PM::get().DataPointsFilterRegistrar.create(
141  "MaxDensityDataPointsFilter"
142  );
143 
144  /*std::shared_ptr<PM::DataPointsFilter> cutInHalf;
145  cutInHalf = PM::get().DataPointsFilterRegistrar.create(
146  "MinDistDataPointsFilter", PM::Parameters({
147  {"dim", "1"},
148  {"minDist", "0"}
149  }));*/
150 
151  std::shared_ptr<PM::DataPointsFilter> computeDensity =
152  PM::get().DataPointsFilterRegistrar.create(
153  "SurfaceNormalDataPointsFilter",
154  {
155  {"knn", "20"},
156  {"keepDensities", "1"}
157  }
158  );
159 
160  reading = subSample->filter(reading);
161  reading = computeDensity->filter(reading);
162  reading = maxDensity->filter(reading);
163  //reading = cutInHalf->filter(reading);
164  const Matrix inliersRead = Matrix::Zero(1, reading.features.cols());
165  reading.addDescriptor("inliers", inliersRead);
166 
167  reference = subSample->filter(reference);
169  reference = maxDensity->filter(reference);
170  const Matrix inliersRef = Matrix::Zero(1, reference.features.cols());
171  reference.addDescriptor("inliers", inliersRef);
172 
173  //TODO: reverse self and target
174  DP self = reading;
175  DP target = reference;
176 
177  for(int l = 0; l < 2; l++)
178  {
179  const int selfPtsCount = self.features.cols();
180  const int targetPtsCount = target.features.cols();
181 
182  // Build kd-tree
183  int knn = 20;
184  int knnAll = 50;
185  std::shared_ptr<PM::Matcher> matcherSelf =
186  PM::get().MatcherRegistrar.create(
187  "KDTreeMatcher",
188  {{"knn", toParam(knn)}}
189  );
190 
191  std::shared_ptr<PM::Matcher> matcherTarget =
192  PM::get().MatcherRegistrar.create(
193  "KDTreeVarDistMatcher",
194  {
195  {"knn", toParam(knnAll)},
196  {"maxDistField", "maxSearchDist"}
197  }
198  );
199 
200  matcherSelf->init(self);
201  matcherTarget->init(target);
202 
203  Matches selfMatches(knn, selfPtsCount);
204  selfMatches = matcherSelf->findClosests(self);
205 
206  const Matrix maxSearchDist = selfMatches.dists.colwise().maxCoeff().cwiseSqrt();
207  self.addDescriptor("maxSearchDist", maxSearchDist);
208 
209  Matches targetMatches(knnAll, targetPtsCount);
210  targetMatches = matcherTarget->findClosests(self);
211 
212  BOOST_AUTO(inlierSelf, self.getDescriptorViewByName("inliers"));
213  BOOST_AUTO(inlierTarget, target.getDescriptorViewByName("inliers"));
214  for(int i = 0; i < selfPtsCount; i++)
215  {
216  for(int k = 0; k < knnAll; k++)
217  {
218  if (targetMatches.dists(k, i) != Matches::InvalidDist)
219  {
220  inlierSelf(0,i) = 1.0;
221  inlierTarget(0,targetMatches.ids(k, i)) = 1.0;
222  }
223  }
224  }
225 
226  // Swap point clouds
227  PM::swapDataPoints(self, target);
228  }
229 
230  const BOOST_AUTO(finalInlierSelf, self.getDescriptorViewByName("inliers"));
231  const BOOST_AUTO(finalInlierTarget, target.getDescriptorViewByName("inliers"));
232  const double selfRatio = (finalInlierSelf.array() > 0).count()/(double)finalInlierSelf.cols();
233  const double targetRatio = (finalInlierTarget.array() > 0).count()/(double)finalInlierTarget.cols();
234 
235  cout << i << " -> " << j << ": " << selfRatio << endl;
236  cout << j << " -> " << i << ": " << targetRatio << endl;
237 
238  if(debugMode)
239  {
240  self.save("scan_i.vtk");
241  target.save("scan_j.vtk");
242  }
243  else
244  {
245  overlapResults(j,i) = selfRatio;
246  overlapResults(i,j) = targetRatio;
247  }
248  }
249  }
250 
251 
252  // write results in a file
253  std::fstream outFile;
254  outFile.open("overlapResults.csv", fstream::out);
255  for(int x=0; x < overlapResults.rows(); x++)
256  {
257  for(int y=0; y < overlapResults.cols(); y++)
258  {
259  outFile << overlapResults(x, y) << ", ";
260  }
261 
262  outFile << endl;
263  }
264 
265  outFile.close();
266 
267  return 0;
268 }
269 
270 void validateArgs(int argc, char *argv[])
271 {
272  if (!(argc == 2 || argc == 4))
273  {
274  cerr << endl;
275  cerr << " ERROR in command line" << endl << endl;
276  cerr << " Usage: " << argv[0] << " listOfFiles.csv <i j>" << endl;
277  cerr << " Note: 'i' and 'j' are optional arguments. If used, only compute the overlap for those 2 point cloud ids and dump VTK files for visual inspection." << endl;
278  cerr << endl;
279  cerr << " Example: " << endl;
280  cerr << " $ " << argv[0] << " ../example/data/carCloudList.csv" << endl;
281  cerr << endl;
282  abort();
283  }
284 }
285 
286 
287 
Transformations
PM::Transformations Transformations
Definition: pypoint_matcher_helper.h:21
PointMatcherIO
IO Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: IO.h:43
compute_overlap.reference
reference
Definition: compute_overlap.py:71
PointMatcherSupport::toParam
std::string toParam(const S &value)
Return the string value using lexical_cast.
Definition: Parametrizable.h:123
compute_overlap.transformations
transformations
Definition: compute_overlap.py:45
compute_overlap.knn
int knn
Definition: compute_overlap.py:128
Matches
PM::Matches Matches
Definition: pypoint_matcher_helper.h:19
DataPoints
PM::DataPoints DataPoints
Definition: pypoint_matcher_helper.h:16
Matrix
PM::Matrix Matrix
Definition: pypoint_matcher_helper.h:59
PointMatcher< float >
PointMatcherSupport::setLogger
void setLogger(std::shared_ptr< Logger > newLogger)
Set a new logger, protected by a mutex.
Definition: Logger.cpp:98
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
x
x
PMIO
PointMatcherIO< float > PMIO
Definition: eval_solution.cpp:62
compute_overlap.Tref
Tref
Definition: compute_overlap.py:49
compute_overlap.target
target
Definition: compute_overlap.py:121
PointMatcher< float >::Matrix
Eigen::Matrix< float, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
validateArgs
void validateArgs(int argc, char *argv[])
Definition: compute_overlap.cpp:270
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
PointMatcher< float >::swapDataPoints
static void swapDataPoints(DataPoints &a, DataPoints &b)
Exchange in place point clouds a and b, with no data copy.
Definition: pointmatcher/DataPoints.cpp:1023
setupArgs
void setupArgs(int argc, char *argv[], unsigned int &startId, unsigned int &endId, string &extension)
std
TP
PM::TransformationParameters TP
Definition: eval_solution.cpp:63
PointMatcherSupport::computeDensity
T computeDensity(const typename PointMatcher< T >::Matrix &NN)
Definition: utils.h:104
compute_overlap.Tread
Tread
Definition: compute_overlap.py:48
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
main
int main(int argc, char *argv[])
Definition: compute_overlap.cpp:57
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
compute_overlap.reading
reading
Definition: compute_overlap.py:70
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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