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pointmatcher icp reg convention: point_set_1 is ref while point_set_2 is data

This commit is contained in:
Necip Yildiran 2019-07-19 14:16:36 +03:00
parent 8bba0536e8
commit dbec5daa1d
3 changed files with 33 additions and 32 deletions
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6
Point_set_processing_3/examples/Point_set_processing_3/registration_with_pointmatcher.cpp
View File

@ -88,7 +88,7 @@ int main(int argc, const char** argv)
} );
// Prepare inspector
ICP_config inspector { .name="NullInspector" };
// TODO: Do we really need to set logger through named parameters? (alternative: some other static method)
// Prepare logger
ICP_config logger { .name= "FileLogger" };
@ -107,9 +107,7 @@ int main(int argc, const char** argv)
params::point_map(Point_map()).normal_map(Normal_map())
.point_set_filters(point_set_2_filters));
// OR call the ICP registration method from pointmatcher and apply the transformation to pwn1
// TODO: Check the latest convention on ref point cloud. Currently, point_set_2 is the ref, as in pointmatcher
// Therefore, the transformation is applied on point_set_1
// OR call the ICP registration method from pointmatcher and apply the transformation to pwn2
CGAL::pointmatcher::register_point_sets
(pwns1, pwns2,
params::point_map(Point_map()).normal_map(Normal_map())

42
Point_set_processing_3/include/CGAL/pointmatcher/compute_registration_transformation.h
View File

@ -53,20 +53,12 @@ construct_icp(const NamedParameters1& np1, const NamedParameters2& np2)
ICP_config null_config { .name = "_null_config" };
auto is_null_config = [&](const ICP_config& c) { return !c.name.compare(null_config.name); };
// np1.point_set_filters -> PM::ReadingDataPointsFilters
auto reading_data_points_filter_configs = choose_param(get_param(np1, internal_np::point_set_filters), std::vector<ICP_config>());
for(const auto& conf : reading_data_points_filter_configs)
{
std::cerr << "Reading data point filter found, name: " << conf.name << std::endl;
try {
icp.readingDataPointsFilters.push_back( PM::get().DataPointsFilterRegistrar.create(conf.name, conf.params) );
} catch(typename PointMatcherSupport::InvalidElement& error) {
dump_invalid_point_matcher_config_exception_msg(error);
}
}
// In CGAL, point_set_1 is the reference while point_set_2 is the data
// However, in pointmatcher, the order is reverse: point_set_1 is the data while point_set_2 is the reference
// Therefore, filter params from np1 applies to reference data points while params from np2 applies to reading data points
// np2.point_set_filters -> PM::ReferenceDataPointsFilter
auto reference_data_points_filter_configs = choose_param(get_param(np2, internal_np::point_set_filters), std::vector<ICP_config>());
// np1.point_set_filters -> PM::ReferenceDataPointsFilter
auto reference_data_points_filter_configs = choose_param(get_param(np1, internal_np::point_set_filters), std::vector<ICP_config>());
for(const auto& conf : reference_data_points_filter_configs)
{
std::cerr << "Reference data point filter found, name: " << conf.name << std::endl;
@ -77,6 +69,18 @@ construct_icp(const NamedParameters1& np1, const NamedParameters2& np2)
}
}
// np2.point_set_filters -> PM::ReadingDataPointsFilters
auto reading_data_points_filter_configs = choose_param(get_param(np2, internal_np::point_set_filters), std::vector<ICP_config>());
for(const auto& conf : reading_data_points_filter_configs)
{
std::cerr << "Reading data point filter found, name: " << conf.name << std::endl;
try {
icp.readingDataPointsFilters.push_back( PM::get().DataPointsFilterRegistrar.create(conf.name, conf.params) );
} catch(typename PointMatcherSupport::InvalidElement& error) {
dump_invalid_point_matcher_config_exception_msg(error);
}
}
// Matcher
auto matcher_config = choose_param(get_param(np1, internal_np::matcher), null_config);
if(!is_null_config(matcher_config))
@ -210,7 +214,9 @@ compute_registration_transformation(const PointRange1& range1, const PointRange2
PM_matrix ref_points_normal_matrix = PM_matrix (3, nb_ref_points);
PM_matrix points_pos_matrix = PM_matrix (4, nb_points);
PM_matrix points_normal_matrix = PM_matrix (3, nb_points);
// In CGAL, point_set_1 is the reference while point_set_2 is the data
// convert cgal points to pointmatcher points
internal::copy_cgal_points_to_pm_matrix<Scalar>(range1,
point_map1,
@ -244,6 +250,7 @@ compute_registration_transformation(const PointRange1& range1, const PointRange2
try
{
const PM_transform_params prior = transform_params;
// In pointmatcher::icp, param1 is the data while param2 is the reference (in constrast to CGAL)
transform_params = icp(cloud, ref_cloud, prior);
// TODO: Convergence? Can we return some sort of score?
std::cerr << transform_params << std::endl; // TODO: Remove
@ -270,8 +277,7 @@ compute_registration_transformation(const PointRange1& range1, const PointRange2
} // end of namespace internal
// TODO: Document
// TODO: Here, point_set_2 is the reference. Therefore, Aff_transformation_3 corresponds to the
// transformation that is suggested to be applied on point_set_1. Change the order?
// point_set_1 is reference while point_set_2 is data
template <class PointRange1, class PointRange2,
class NamedParameters1, class NamedParameters2>
#ifdef DOXYGEN_RUNNING
@ -320,7 +326,7 @@ template <class PointRange1, class PointRange2,
class NamedParameters1>
typename CGAL::Point_set_processing_3::GetK<PointRange1, NamedParameters1>
::Kernel::Aff_transformation_3
compute_registration_transformation(const PointRange1& point_set_1, PointRange2& point_set_2,
compute_registration_transformation(const PointRange1& point_set_1, const PointRange2& point_set_2,
const NamedParameters1& np1)
{
namespace params = CGAL::Point_set_processing_3::parameters;
@ -331,7 +337,7 @@ template <class PointRange1, class PointRange2>
typename CGAL::Point_set_processing_3::GetK<PointRange1,
cgal_bgl_named_params<bool, internal_np::all_default_t> >
::Kernel::Aff_transformation_3
compute_registration_transformation(const PointRange1& point_set_1, PointRange2& point_set_2)
compute_registration_transformation(const PointRange1& point_set_1, const PointRange2& point_set_2)
{
namespace params = CGAL::Point_set_processing_3::parameters;
return compute_registration_transformation(point_set_1, point_set_2,

17
Point_set_processing_3/include/CGAL/pointmatcher/register_point_sets.h
View File

@ -30,7 +30,7 @@ template <class Kernel,
class VectorMap1,
class VectorMap2>
void // TODO: Can we return some sort of score?
register_point_sets(PointRange1& range1, const PointRange2& range2, // TODO: Check which one is ref, currently range2
register_point_sets(const PointRange1& range1, PointRange2& range2,
PointMap1 point_map1, PointMap2 point_map2,
VectorMap1 vector_map1, VectorMap2 vector_map2,
ICP<typename Kernel::FT> icp)
@ -42,13 +42,10 @@ register_point_sets(PointRange1& range1, const PointRange2& range2, // TODO: Che
icp);
// update CGAL points
// TODO: Here, point_set_2 is the reference. Therefore, Aff_transformation_3 corresponds to the
// transformation that is suggested to be applied on point_set_1. Check the latest convention
// with compute_registration_transformation() method
for (typename PointRange1::iterator it=range1.begin(),
end=range1.end(); it!=end; ++it)
for (typename PointRange2::iterator it=range2.begin(),
end=range2.end(); it!=end; ++it)
{
put(point_map1, *it, get(point_map1, *it).transform(res));
put(point_map2, *it, get(point_map2, *it).transform(res));
}
}
@ -58,7 +55,7 @@ register_point_sets(PointRange1& range1, const PointRange2& range2, // TODO: Che
template <class PointRange1, class PointRange2,
class NamedParameters1, class NamedParameters2>
void // TODO: Can we return some sort of score?
register_point_sets (PointRange1& point_set_1, const PointRange2& point_set_2, // TODO: Check which one is ref, currently range2
register_point_sets (const PointRange1& point_set_1, PointRange2& point_set_2,
const NamedParameters1& np1, const NamedParameters2& np2)
{
using boost::choose_param;
@ -97,7 +94,7 @@ register_point_sets (PointRange1& point_set_1, const PointRange2& point_set_2, /
template <class PointRange1, class PointRange2,
class NamedParameters1>
void // TODO: Can we return some sort of score?
register_point_sets(PointRange1& point_set_1, const PointRange2& point_set_2, // TODO: Check which one is ref, currently range2
register_point_sets(const PointRange1& point_set_1, PointRange2& point_set_2,
const NamedParameters1& np1)
{
namespace params = CGAL::Point_set_processing_3::parameters;
@ -106,7 +103,7 @@ register_point_sets(PointRange1& point_set_1, const PointRange2& point_set_2, //
template <class PointRange1, class PointRange2>
void // TODO: Can we return some sort of score?
register_point_sets(PointRange1& point_set_1, const PointRange2& point_set_2) // TODO: Check which one is ref, currently range2
register_point_sets(const PointRange1& point_set_1, PointRange2& point_set_2)
{
namespace params = CGAL::Point_set_processing_3::parameters;
return register_point_sets(point_set_1, point_set_2,