util3d_correspondences.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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      derived from this software without specific prior written permission.

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#include "rtabmap/core/util3d_correspondences.h"
#include "rtabmap/core/util3d.h"

#include <rtabmap/utilite/UStl.h>
#include <rtabmap/core/EpipolarGeometry.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <pcl/search/kdtree.h>

namespace rtabmap
{

namespace util3d
{


void extractXYZCorrespondences(const std::multimap<int, pcl::PointXYZ> & words1,
                                                                          const std::multimap<int, pcl::PointXYZ> & words2,
                                                                          pcl::PointCloud<pcl::PointXYZ> & cloud1,
                                                                          pcl::PointCloud<pcl::PointXYZ> & cloud2)
{
        const std::list<int> & ids = uUniqueKeys(words1);
        for(std::list<int>::const_iterator i=ids.begin(); i!=ids.end(); ++i)
        {
                if(words1.count(*i) == 1 && words2.count(*i) == 1)
                {
                        const pcl::PointXYZ & pt1 = words1.find(*i)->second;
                        const pcl::PointXYZ & pt2 = words2.find(*i)->second;
                        if(pcl::isFinite(pt1) && pcl::isFinite(pt2))
                        {
                                cloud1.push_back(pt1);
                                cloud2.push_back(pt2);
                        }
                }
        }
}

void extractXYZCorrespondencesRANSAC(const std::multimap<int, pcl::PointXYZ> & words1,
                                                                          const std::multimap<int, pcl::PointXYZ> & words2,
                                                                          pcl::PointCloud<pcl::PointXYZ> & cloud1,
                                                                          pcl::PointCloud<pcl::PointXYZ> & cloud2)
{
        std::list<std::pair<pcl::PointXYZ, pcl::PointXYZ> > pairs;
        const std::list<int> & ids = uUniqueKeys(words1);
        for(std::list<int>::const_iterator i=ids.begin(); i!=ids.end(); ++i)
        {
                if(words1.count(*i) == 1 && words2.count(*i) == 1)
                {
                        const pcl::PointXYZ & pt1 = words1.find(*i)->second;
                        const pcl::PointXYZ & pt2 = words2.find(*i)->second;
                        if(pcl::isFinite(pt1) && pcl::isFinite(pt2))
                        {
                                pairs.push_back(std::pair<pcl::PointXYZ, pcl::PointXYZ>(pt1, pt2));
                        }
                }
        }

        if(pairs.size() > 7)
        {
                // Remove outliers using fundamental matrix RANSAC
                std::vector<uchar> status(pairs.size(), 0);
                //Convert Keypoints to a structure that OpenCV understands
                //3 dimensions (Homogeneous vectors)
                cv::Mat points1(1, (int)pairs.size(), CV_32FC2);
                cv::Mat points2(1, (int)pairs.size(), CV_32FC2);

                float * points1data = points1.ptr<float>(0);
                float * points2data = points2.ptr<float>(0);

                // Fill the points here ...
                int i=0;
                for(std::list<std::pair<pcl::PointXYZ, pcl::PointXYZ> >::const_iterator iter = pairs.begin();
                        iter != pairs.end();
                        ++iter )
                {
                        points1data[i*2] = (*iter).first.x;
                        points1data[i*2+1] = (*iter).first.y;

                        points2data[i*2] = (*iter).second.x;
                        points2data[i*2+1] = (*iter).second.y;

                        ++i;
                }

                // Find the fundamental matrix
                cv::Mat fundamentalMatrix = cv::findFundamentalMat(
                                        points1,
                                        points2,
                                        status,
                                        cv::FM_RANSAC,
                                        3.0,
                                        0.99);

                if(!fundamentalMatrix.empty())
                {
                        int i = 0;
                        for(std::list<std::pair<pcl::PointXYZ, pcl::PointXYZ> >::iterator iter=pairs.begin(); iter!=pairs.end(); ++iter)
                        {
                                if(status[i])
                                {
                                        cloud1.push_back(iter->first);
                                        cloud2.push_back(iter->second);
                                }
                                ++i;
                        }
                }
        }
}

void extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
                                                                           const cv::Mat & depthImage1,
                                                                           const cv::Mat & depthImage2,
                                                                           float cx, float cy,
                                                                           float fx, float fy,
                                                                           float maxDepth,
                                                                           pcl::PointCloud<pcl::PointXYZ> & cloud1,
                                                                           pcl::PointCloud<pcl::PointXYZ> & cloud2)
{
        cloud1.resize(correspondences.size());
        cloud2.resize(correspondences.size());
        int oi=0;
        for(std::list<std::pair<cv::Point2f, cv::Point2f> >::const_iterator iter = correspondences.begin();
                iter!=correspondences.end();
                ++iter)
        {
                pcl::PointXYZ pt1 = projectDepthTo3D(depthImage1, iter->first.x, iter->first.y, cx, cy, fx, fy, true);
                pcl::PointXYZ pt2 = projectDepthTo3D(depthImage2, iter->second.x, iter->second.y, cx, cy, fx, fy, true);
                if(pcl::isFinite(pt1) && pcl::isFinite(pt2) &&
                   (maxDepth <= 0 || (pt1.z <= maxDepth && pt2.z<=maxDepth)))
                {
                        cloud1[oi] = pt1;
                        cloud2[oi] = pt2;
                        ++oi;
                }
        }
        cloud1.resize(oi);
        cloud2.resize(oi);
}

template<typename PointT>
inline void extractXYZCorrespondencesImpl(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
                                                           const pcl::PointCloud<PointT> & cloud1,
                                                           const pcl::PointCloud<PointT> & cloud2,
                                                           pcl::PointCloud<pcl::PointXYZ> & inliers1,
                                                           pcl::PointCloud<pcl::PointXYZ> & inliers2,
                                                           char depthAxis)
{
        for(std::list<std::pair<cv::Point2f, cv::Point2f> >::const_iterator iter = correspondences.begin();
                iter!=correspondences.end();
                ++iter)
        {
                PointT pt1 = cloud1.at(int(iter->first.y+0.5f) * cloud1.width + int(iter->first.x+0.5f));
                PointT pt2 = cloud2.at(int(iter->second.y+0.5f) * cloud2.width + int(iter->second.x+0.5f));
                if(pcl::isFinite(pt1) &&
                   pcl::isFinite(pt2))
                {
                        inliers1.push_back(pcl::PointXYZ(pt1.x, pt1.y, pt1.z));
                        inliers2.push_back(pcl::PointXYZ(pt2.x, pt2.y, pt2.z));
                }
        }
}

void extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
                                                           const pcl::PointCloud<pcl::PointXYZ> & cloud1,
                                                           const pcl::PointCloud<pcl::PointXYZ> & cloud2,
                                                           pcl::PointCloud<pcl::PointXYZ> & inliers1,
                                                           pcl::PointCloud<pcl::PointXYZ> & inliers2,
                                                           char depthAxis)
{
        extractXYZCorrespondencesImpl(correspondences, cloud1, cloud2, inliers1, inliers2, depthAxis);
}
void extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
                                                           const pcl::PointCloud<pcl::PointXYZRGB> & cloud1,
                                                           const pcl::PointCloud<pcl::PointXYZRGB> & cloud2,
                                                           pcl::PointCloud<pcl::PointXYZ> & inliers1,
                                                           pcl::PointCloud<pcl::PointXYZ> & inliers2,
                                                           char depthAxis)
{
        extractXYZCorrespondencesImpl(correspondences, cloud1, cloud2, inliers1, inliers2, depthAxis);
}

int countUniquePairs(const std::multimap<int, pcl::PointXYZ> & wordsA,
                                         const std::multimap<int, pcl::PointXYZ> & wordsB)
{
        const std::list<int> & ids = uUniqueKeys(wordsA);
        int pairs = 0;
        for(std::list<int>::const_iterator i=ids.begin(); i!=ids.end(); ++i)
        {
                std::list<pcl::PointXYZ> ptsA = uValues(wordsA, *i);
                std::list<pcl::PointXYZ> ptsB = uValues(wordsB, *i);
                if(ptsA.size() == 1 && ptsB.size() == 1)
                {
                        ++pairs;
                }
        }
        return pairs;
}

void filterMaxDepth(pcl::PointCloud<pcl::PointXYZ> & inliers1,
                                        pcl::PointCloud<pcl::PointXYZ> & inliers2,
                                        float maxDepth,
                                        char depthAxis,
                                        bool removeDuplicates)
{
        std::list<pcl::PointXYZ> addedPts;
        if(maxDepth > 0.0f && inliers1.size() && inliers1.size() == inliers2.size())
        {
                pcl::PointCloud<pcl::PointXYZ> tmpInliers1;
                pcl::PointCloud<pcl::PointXYZ> tmpInliers2;
                for(unsigned int i=0; i<inliers1.size(); ++i)
                {
                        if((depthAxis == 'x' && inliers1.at(i).x < maxDepth && inliers2.at(i).x < maxDepth) ||
                           (depthAxis == 'y' && inliers1.at(i).y < maxDepth && inliers2.at(i).y < maxDepth) ||
                           (depthAxis == 'z' && inliers1.at(i).z < maxDepth && inliers2.at(i).z < maxDepth))
                        {
                                bool dup = false;
                                if(removeDuplicates)
                                {
                                        for(std::list<pcl::PointXYZ>::iterator iter = addedPts.begin(); iter!=addedPts.end(); ++iter)
                                        {
                                                if(iter->x == inliers1.at(i).x &&
                                                   iter->y == inliers1.at(i).y &&
                                                   iter->z == inliers1.at(i).z)
                                                {
                                                        dup = true;
                                                }
                                        }
                                        if(!dup)
                                        {
                                                addedPts.push_back(inliers1.at(i));
                                        }
                                }

                                if(!dup)
                                {
                                        tmpInliers1.push_back(inliers1.at(i));
                                        tmpInliers2.push_back(inliers2.at(i));
                                }
                        }
                }
                inliers1 = tmpInliers1;
                inliers2 = tmpInliers2;
        }
}


// a kdtree is constructed with cloud_target, then nearest neighbor
// is computed for each cloud_source points.
int getCorrespondencesCount(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
                                                        const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
                                                        float maxDistance)
{
        pcl::search::KdTree<pcl::PointXYZ>::Ptr kdTree(new pcl::search::KdTree<pcl::PointXYZ>);
        kdTree->setInputCloud(cloud_target);
        int count = 0;
        float sqrdMaxDistance = maxDistance * maxDistance;
        for(unsigned int i=0; i<cloud_source->size(); ++i)
        {
                std::vector<int> ind(1);
                std::vector<float> dist(1);
                if(kdTree->nearestKSearch(cloud_source->at(i), 1, ind, dist) && dist[0] < sqrdMaxDistance)
                {
                        ++count;
                }
        }
        return count;
}

void findCorrespondences(
                const std::multimap<int, cv::KeyPoint> & wordsA,
                const std::multimap<int, cv::KeyPoint> & wordsB,
                std::list<std::pair<cv::Point2f, cv::Point2f> > & pairs)
{
        const std::list<int> & ids = uUniqueKeys(wordsA);
        pairs.clear();
        for(std::list<int>::const_iterator i=ids.begin(); i!=ids.end(); ++i)
        {
                std::list<cv::KeyPoint> ptsA = uValues(wordsA, *i);
                std::list<cv::KeyPoint> ptsB = uValues(wordsB, *i);
                if(ptsA.size() == 1 && ptsB.size() == 1)
                {
                        pairs.push_back(std::pair<cv::Point2f, cv::Point2f>(ptsA.front().pt, ptsB.front().pt));
                }
        }
}

void findCorrespondences(
                const std::multimap<int, cv::Point3f> & words1,
                const std::multimap<int, cv::Point3f> & words2,
                std::vector<cv::Point3f> & inliers1,
                std::vector<cv::Point3f> & inliers2,
                float maxDepth,
                std::vector<int> * uniqueCorrespondences)
{
        std::list<int> ids = uUniqueKeys(words1);
        // Find pairs
        inliers1.resize(ids.size());
        inliers2.resize(ids.size());
        if(uniqueCorrespondences)
        {
                uniqueCorrespondences->resize(ids.size());
        }

        int oi=0;
        for(std::list<int>::iterator iter=ids.begin(); iter!=ids.end(); ++iter)
        {
                if(words1.count(*iter) == 1 && words2.count(*iter) == 1)
                {
                        inliers1[oi] = words1.find(*iter)->second;
                        inliers2[oi] = words2.find(*iter)->second;
                        if(util3d::isFinite(inliers1[oi]) &&
                           util3d::isFinite(inliers2[oi]) &&
                           (inliers1[oi].x != 0 || inliers1[oi].y != 0 || inliers1[oi].z != 0) &&
                           (inliers2[oi].x != 0 || inliers2[oi].y != 0 || inliers2[oi].z != 0) &&
                           (maxDepth <= 0 || (inliers1[oi].x > 0 && inliers1[oi].x <= maxDepth && inliers2[oi].x>0 &&inliers2[oi].x<=maxDepth)))
                        {
                                if(uniqueCorrespondences)
                                {
                                        uniqueCorrespondences->at(oi) = *iter;
                                }
                                ++oi;
                        }
                }
        }
        inliers1.resize(oi);
        inliers2.resize(oi);
        if(uniqueCorrespondences)
        {
                uniqueCorrespondences->resize(oi);
        }
}

void findCorrespondences(
                const std::map<int, cv::Point3f> & words1,
                const std::map<int, cv::Point3f> & words2,
                std::vector<cv::Point3f> & inliers1,
                std::vector<cv::Point3f> & inliers2,
                float maxDepth,
                std::vector<int> * correspondences)
{
        std::vector<int> ids = uKeys(words1);
        // Find pairs
        inliers1.resize(ids.size());
        inliers2.resize(ids.size());
        if(correspondences)
        {
                correspondences->resize(ids.size());
        }

        int oi=0;
        for(std::vector<int>::iterator iter=ids.begin(); iter!=ids.end(); ++iter)
        {
                if(words2.find(*iter) != words2.end())
                {
                        inliers1[oi] = words1.find(*iter)->second;
                        inliers2[oi] = words2.find(*iter)->second;
                        if(util3d::isFinite(inliers1[oi]) &&
                           util3d::isFinite(inliers2[oi]) &&
                           (inliers1[oi].x != 0 || inliers1[oi].y != 0 || inliers1[oi].z != 0) &&
                           (inliers2[oi].x != 0 || inliers2[oi].y != 0 || inliers2[oi].z != 0) &&
                           (maxDepth <= 0 || (inliers1[oi].x > 0 && inliers1[oi].x <= maxDepth && inliers2[oi].x>0 &&inliers2[oi].x<=maxDepth)))
                        {
                                if(correspondences)
                                {
                                        correspondences->at(oi) = *iter;
                                }
                                ++oi;
                        }
                }
        }
        inliers1.resize(oi);
        inliers2.resize(oi);
        if(correspondences)
        {
                correspondences->resize(oi);
        }
}

}

}