Merge remote-tracking branch 'necip/gsoc2019-pointmatcher_icp_wrapper-necipfazil' into gsoc2019-pointmatcher_icp_wrapper-necipfazil
This commit is contained in:
Simon Giraudot
@@ -78,6 +78,34 @@ if ( CGAL_FOUND )
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create_single_source_cgal_program( "jet_smoothing_example.cpp" )
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create_single_source_cgal_program( "normal_estimation.cpp" )
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create_single_source_cgal_program( "edges_example.cpp" )
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# Executables that require libpointmatcher
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find_package(libpointmatcher QUIET)
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if (libpointmatcher_FOUND)
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create_single_source_cgal_program( "registration_with_pointmatcher.cpp" )
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CGAL_target_use_pointmatcher(registration_with_pointmatcher)
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else()
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message(STATUS "NOTICE : the registration_with_pointmatcher test requires libpointmatcher and will not be compiled.")
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endif()
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# Executables that require OpenGR
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find_package(OpenGR QUIET)
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if (OpenGR_FOUND)
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create_single_source_cgal_program( "registration_with_OpenGR.cpp" )
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CGAL_target_use_OpenGR(registration_with_OpenGR)
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else()
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message(STATUS "NOTICE : registration_with_OpenGR requires OpenGR, and will not be compiled.")
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endif()
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# Executables that require both libpointmatcher and OpenGR
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if (libpointmatcher_FOUND AND OpenGR_FOUND)
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create_single_source_cgal_program( "registration_with_opengr_pointmatcher_pipeline.cpp" )
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CGAL_target_use_OpenGR(registration_with_opengr_pointmatcher_pipeline)
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CGAL_target_use_pointmatcher(registration_with_opengr_pointmatcher_pipeline)
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else()
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message(STATUS "NOTICE : registration_with_opengr_pointmatcher_pipeline requires libpointmatcher and OpenGR, and will not be compiled.")
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endif()
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else()
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message(STATUS "NOTICE: Some of the executables in this directory need Eigen 3.1 (or greater) and will not be compiled.")
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@@ -0,0 +1,87 @@
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#include <CGAL/Simple_cartesian.h>
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#include <CGAL/IO/read_ply_points.h>
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#include <CGAL/IO/write_ply_points.h>
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#include <CGAL/property_map.h>
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#include <CGAL/OpenGR/compute_registration_transformation.h>
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#include <CGAL/OpenGR/register_point_sets.h>
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#include <fstream>
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#include <iostream>
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#include <utility>
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typedef CGAL::Simple_cartesian<double> K;
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typedef K::Point_3 Point_3;
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typedef K::Vector_3 Vector_3;
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typedef std::pair<Point_3, Vector_3> Pwn;
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typedef CGAL::First_of_pair_property_map<Pwn> Point_map;
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typedef CGAL::Second_of_pair_property_map<Pwn> Normal_map;
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namespace params = CGAL::parameters;
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int main(int argc, const char** argv)
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{
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const char* fname1 = (argc>1)?argv[1]:"data/hippo1.ply";
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const char* fname2 = (argc>2)?argv[2]:"data/hippo2.ply";
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std::vector<Pwn> pwns1, pwns2;
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std::ifstream input(fname1);
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if (!input ||
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!CGAL::read_ply_points(input, std::back_inserter(pwns1),
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CGAL::parameters::point_map (CGAL::First_of_pair_property_map<Pwn>()).
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normal_map (Normal_map())))
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{
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std::cerr << "Error: cannot read file " << fname1 << std::endl;
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return EXIT_FAILURE;
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}
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input.close();
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input.open(fname2);
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if (!input ||
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!CGAL::read_ply_points(input, std::back_inserter(pwns2),
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CGAL::parameters::point_map (Point_map()).
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normal_map (Normal_map())))
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{
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std::cerr << "Error: cannot read file " << fname2 << std::endl;
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return EXIT_FAILURE;
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}
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input.close();
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// EITHER call the registration method Super4PCS from OpenGR to get the transformation to apply to pwns2
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// std::pair<K::Aff_transformation_3, double> res =
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CGAL::OpenGR::compute_registration_transformation(pwns1, pwns2,
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params::point_map(Point_map())
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.normal_map(Normal_map())
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.number_of_samples(200)
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.maximum_running_time(60)
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.accuracy(0.01),
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params::point_map(Point_map())
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.normal_map(Normal_map()));
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// OR call the registration method Super4PCS from OpenGR and apply the transformation to pwn2
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double score =
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CGAL::OpenGR::register_point_sets(pwns1, pwns2,
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params::point_map(Point_map())
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.normal_map(Normal_map())
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.number_of_samples(200)
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.maximum_running_time(60)
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.accuracy(0.01),
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params::point_map(Point_map())
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.normal_map(Normal_map()));
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std::ofstream out("pwns2_aligned.ply");
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if (!out ||
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!CGAL::write_ply_points(
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out, pwns2,
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CGAL::parameters::point_map(Point_map()).
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normal_map(Normal_map())))
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{
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return EXIT_FAILURE;
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}
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std::cout << "Registration score: " << score << ".\n"
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<< "Transformed version of " << fname2
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<< " written to pwn2_aligned.ply.\n";
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return EXIT_SUCCESS;
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}
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+88
@@ -0,0 +1,88 @@
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#include <CGAL/Simple_cartesian.h>
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#include <CGAL/IO/read_ply_points.h>
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#include <CGAL/IO/write_ply_points.h>
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#include <CGAL/property_map.h>
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#include <CGAL/Aff_transformation_3.h>
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#include <CGAL/pointmatcher/register_point_sets.h>
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#include <CGAL/OpenGR/compute_registration_transformation.h>
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#include <fstream>
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#include <iostream>
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#include <utility>
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#include <vector>
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typedef CGAL::Simple_cartesian<double> K;
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typedef K::Point_3 Point_3;
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typedef K::Vector_3 Vector_3;
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typedef std::pair<Point_3, Vector_3> Pwn;
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typedef CGAL::First_of_pair_property_map<Pwn> Point_map;
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typedef CGAL::Second_of_pair_property_map<Pwn> Normal_map;
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namespace params = CGAL::parameters;
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int main(int argc, const char** argv)
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{
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const char* fname1 = (argc>1)?argv[1]:"data/hippo1.ply";
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const char* fname2 = (argc>2)?argv[2]:"data/hippo2.ply";
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std::vector<Pwn> pwns1, pwns2;
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std::ifstream input(fname1);
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if (!input ||
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!CGAL::read_ply_points(input, std::back_inserter(pwns1),
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CGAL::parameters::point_map (CGAL::First_of_pair_property_map<Pwn>()).
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normal_map (Normal_map())))
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{
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std::cerr << "Error: cannot read file " << fname1 << std::endl;
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return EXIT_FAILURE;
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}
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input.close();
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input.open(fname2);
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if (!input ||
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!CGAL::read_ply_points(input, std::back_inserter(pwns2),
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CGAL::parameters::point_map (Point_map()).
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normal_map (Normal_map())))
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{
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std::cerr << "Error: cannot read file " << fname2 << std::endl;
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return EXIT_FAILURE;
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}
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input.close();
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std::cerr << "Computing registration transformation using OpenGR Super4PCS.." << std::endl;
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// First, compute registration transformation using OpenGR Super4PCS
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K::Aff_transformation_3 res =
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std::get<0>( // get first of pair, which is the transformation
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CGAL::OpenGR::compute_registration_transformation
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(pwns1, pwns2,
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params::point_map(Point_map()).normal_map(Normal_map()),
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params::point_map(Point_map()).normal_map(Normal_map()))
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);
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std::cerr << "Computing registration transformation using PointMatcher ICP, "
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<< "taking transformation computed by OpenGR Super4PCS as initial transformation.." << std::endl;
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// Then, compute registration transformation using PointMatcher ICP, taking transformation computed
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// by OpenGR as initial transformation, and apply the transformation to pwns2
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// bool converged =
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CGAL::pointmatcher::register_point_sets
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(pwns1, pwns2,
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params::point_map(Point_map()).normal_map(Normal_map()),
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params::point_map(Point_map()).normal_map(Normal_map())
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.transformation(res));
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std::ofstream out("pwns2_aligned.ply");
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if (!out ||
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!CGAL::write_ply_points(
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out, pwns2,
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CGAL::parameters::point_map(Point_map()).
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normal_map(Normal_map())))
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{
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return EXIT_FAILURE;
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}
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std::cerr << "Transformed version of " << fname2
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<< " written to pwn2_aligned.ply.\n";
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return EXIT_SUCCESS;
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}
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+150
@@ -0,0 +1,150 @@
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#include <CGAL/Simple_cartesian.h>
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#include <CGAL/IO/read_ply_points.h>
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#include <CGAL/IO/write_ply_points.h>
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#include <CGAL/property_map.h>
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#include <CGAL/Aff_transformation_3.h>
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#include <CGAL/aff_transformation_tags.h>
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#include <CGAL/pointmatcher/compute_registration_transformation.h>
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#include <CGAL/pointmatcher/register_point_sets.h>
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#include <fstream>
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#include <iostream>
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#include <utility>
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#include <vector>
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typedef CGAL::Simple_cartesian<double> K;
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typedef K::Point_3 Point_3;
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typedef K::Vector_3 Vector_3;
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typedef std::pair<Point_3, Vector_3> Pwn;
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typedef CGAL::First_of_pair_property_map<Pwn> Point_map;
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typedef CGAL::Second_of_pair_property_map<Pwn> Normal_map;
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namespace params = CGAL::parameters;
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int main(int argc, const char** argv)
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{
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const char* fname1 = (argc>1)?argv[1]:"data/hippo1.ply";
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const char* fname2 = (argc>2)?argv[2]:"data/hippo2.ply";
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std::vector<Pwn> pwns1, pwns2;
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std::ifstream input(fname1);
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if (!input ||
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!CGAL::read_ply_points(input, std::back_inserter(pwns1),
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CGAL::parameters::point_map (CGAL::First_of_pair_property_map<Pwn>()).
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normal_map (Normal_map())))
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{
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std::cerr << "Error: cannot read file " << fname1 << std::endl;
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return EXIT_FAILURE;
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}
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input.close();
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input.open(fname2);
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if (!input ||
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!CGAL::read_ply_points(input, std::back_inserter(pwns2),
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CGAL::parameters::point_map (Point_map()).
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normal_map (Normal_map())))
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{
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std::cerr << "Error: cannot read file " << fname2 << std::endl;
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return EXIT_FAILURE;
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}
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input.close();
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//
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// Prepare ICP config
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//
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using CGAL::pointmatcher::ICP_config;
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// Possible config modules/components: https://libpointmatcher.readthedocs.io/en/latest/Configuration/#configuration-of-an-icp-chain
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// See documentation of optional named parameters for CGAL PM ICP configuration / pointmatcher config module mapping
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// Prepare point set 1 filters (PM::ReferenceDataPointsFilters)
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std::vector<ICP_config> point_set_1_filters;
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point_set_1_filters.push_back( ICP_config { /*.name=*/"MinDistDataPointsFilter" , /*.params=*/{ {"minDist", "0.5" }} } );
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point_set_1_filters.push_back( ICP_config { /*.name=*/"RandomSamplingDataPointsFilter", /*.params=*/{ {"prob" , "0.05"}} } );
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// Prepare point set 2 filters (PM::ReadingDataPointsFilters)
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std::vector<ICP_config> point_set_2_filters;
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point_set_2_filters.push_back( ICP_config { /*.name=*/"MinDistDataPointsFilter" , /*.params=*/{ {"minDist", "0.5" }} } );
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point_set_2_filters.push_back( ICP_config { /*.name=*/"RandomSamplingDataPointsFilter", /*.params=*/{ {"prob" , "0.05"}} } );
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// Prepare matcher function
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ICP_config matcher { /*.name=*/"KDTreeMatcher", /*.params=*/{ {"knn", "1"}, {"epsilon", "3.16"} } };
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// Prepare outlier filters
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std::vector<ICP_config> outlier_filters;
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outlier_filters.push_back( ICP_config { /*.name=*/"TrimmedDistOutlierFilter", /*.params=*/{ {"ratio", "0.75" }} } );
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// Prepare error minimizer
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ICP_config error_minimizer { /*.name=*/"PointToPointErrorMinimizer"};
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// Prepare transformation checker
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std::vector<ICP_config> transformation_checkers;
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transformation_checkers.push_back( ICP_config { /*.name=*/"CounterTransformationChecker", /*.params=*/{ {"maxIterationCount", "150" }} } );
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transformation_checkers.push_back( ICP_config { /*.name=*/"DifferentialTransformationChecker", /*.params=*/{ {"minDiffRotErr" , "0.001" },
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{"minDiffTransErr", "0.01" },
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{"smoothLength" , "4" } }
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} );
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// Prepare inspector
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ICP_config inspector { /*.name=*/"NullInspector" };
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// Prepare logger
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ICP_config logger { /*.name=*/"FileLogger" };
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const K::Aff_transformation_3 identity_transform = K::Aff_transformation_3(CGAL::Identity_transformation());
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// EITHER call the ICP registration method pointmatcher to get the transformation to apply to pwns2
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std::pair<K::Aff_transformation_3, bool> res =
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CGAL::pointmatcher::compute_registration_transformation
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(pwns1, pwns2,
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params::point_map(Point_map()).normal_map(Normal_map())
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.point_set_filters(point_set_1_filters)
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.matcher(matcher)
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.outlier_filters(outlier_filters)
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.error_minimizer(error_minimizer)
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.transformation_checkers(transformation_checkers)
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.inspector(inspector)
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.logger(logger),
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params::point_map(Point_map()).normal_map(Normal_map())
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.point_set_filters(point_set_2_filters)
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.transformation(identity_transform) /* initial transform for pwns2.
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* default value is already identity transform.
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* a proper initial transform could be given, for example,
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* a transform returned from a coarse registration algorithm.
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* */
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);
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// OR call the ICP registration method from pointmatcher and apply the transformation to pwn2
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bool converged =
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CGAL::pointmatcher::register_point_sets
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(pwns1, pwns2,
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params::point_map(Point_map()).normal_map(Normal_map())
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.point_set_filters(point_set_1_filters)
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.matcher(matcher)
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.outlier_filters(outlier_filters)
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.error_minimizer(error_minimizer)
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.transformation_checkers(transformation_checkers)
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.inspector(inspector)
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.logger(logger),
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params::point_map(Point_map()).normal_map(Normal_map())
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.point_set_filters(point_set_2_filters)
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.transformation(res.first) /* pass the above computed transformation as initial transformation.
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* as a result, the registration will require less iterations to converge.
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* */
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);
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std::ofstream out("pwns2_aligned.ply");
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if (!out ||
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!CGAL::write_ply_points(
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out, pwns2,
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CGAL::parameters::point_map(Point_map()).
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normal_map(Normal_map())))
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{
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return EXIT_FAILURE;
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}
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std::cout << "Transformed version of " << fname2
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<< " written to pwn2_aligned.ply.\n";
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return EXIT_SUCCESS;
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}
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