Esempio n. 1
0
template <typename PointSource, typename PointTarget> void
pcl16::GeneralizedIterativeClosestPoint<PointSource, PointTarget>::estimateRigidTransformationBFGS (const PointCloudSource &cloud_src, 
                                                                                                  const std::vector<int> &indices_src, 
                                                                                                  const PointCloudTarget &cloud_tgt, 
                                                                                                  const std::vector<int> &indices_tgt, 
                                                                                                  Eigen::Matrix4f &transformation_matrix)
{
  if (indices_src.size () < 4)     // need at least 4 samples
  {
    PCL16_THROW_EXCEPTION (NotEnoughPointsException, 
                         "[pcl16::GeneralizedIterativeClosestPoint::estimateRigidTransformationBFGS] Need at least 4 points to estimate a transform! Source and target have " << indices_src.size () << " points!");
    return;
  }
  // Set the initial solution
  Vector6d x = Vector6d::Zero ();
  x[0] = transformation_matrix (0,3);
  x[1] = transformation_matrix (1,3);
  x[2] = transformation_matrix (2,3);
  x[3] = atan2 (transformation_matrix (2,1), transformation_matrix (2,2));
  x[4] = asin (-transformation_matrix (2,0));
  x[5] = atan2 (transformation_matrix (1,0), transformation_matrix (0,0));

  // Set temporary pointers
  tmp_src_ = &cloud_src;
  tmp_tgt_ = &cloud_tgt;
  tmp_idx_src_ = &indices_src;
  tmp_idx_tgt_ = &indices_tgt;

  // Optimize using forward-difference approximation LM
  const double gradient_tol = 1e-2;
  OptimizationFunctorWithIndices functor(this);
  BFGS<OptimizationFunctorWithIndices> bfgs (functor);
  bfgs.parameters.sigma = 0.01;
  bfgs.parameters.rho = 0.01;
  bfgs.parameters.tau1 = 9;
  bfgs.parameters.tau2 = 0.05;
  bfgs.parameters.tau3 = 0.5;
  bfgs.parameters.order = 3;

  int inner_iterations_ = 0;
  int result = bfgs.minimizeInit (x);
  do
  {
    inner_iterations_++;
    result = bfgs.minimizeOneStep (x);
    if(result)
    {
      break;
    }
    result = bfgs.testGradient(gradient_tol);
  } while(result == BFGSSpace::Running && inner_iterations_ < max_inner_iterations_);
  if(result == BFGSSpace::NoProgress || result == BFGSSpace::Success || inner_iterations_ == max_inner_iterations_)
  {
    PCL16_DEBUG ("[pcl16::registration::TransformationEstimationBFGS::estimateRigidTransformation]");
    PCL16_DEBUG ("BFGS solver finished with exit code %i \n", result);
    transformation_matrix.setIdentity();
    applyState(transformation_matrix, x);
  }
  else
    PCL16_THROW_EXCEPTION(SolverDidntConvergeException, 
                        "[pcl16::" << getClassName () << "::TransformationEstimationBFGS::estimateRigidTransformation] BFGS solver didn't converge!");
}
void MainController::run()
{
    while(!pangolin::ShouldQuit() && !((!logReader->hasMore()) && quiet) && !(eFusion->getTick() == end && quiet))
    {
        if(!gui->pause->Get() || pangolin::Pushed(*gui->step))
        {
            if((logReader->hasMore() || rewind) && eFusion->getTick() < end)
            {
                TICK("LogRead");
                if(rewind)
                {
                    if(!logReader->hasMore())
                    {
                        logReader->getBack();
                    }
                    else
                    {
                        logReader->getNext();
                    }

                    if(logReader->rewound())
                    {
                        logReader->currentFrame = 0;
                    }
                }
                else
                {
                    logReader->getNext();
                }
                TOCK("LogRead");

                if(eFusion->getTick() < start)
                {
                    eFusion->setTick(start);
                    logReader->fastForward(start);
                }

                float weightMultiplier = framesToSkip + 1;

                if(framesToSkip > 0)
                {
                    eFusion->setTick(eFusion->getTick() + framesToSkip);
                    logReader->fastForward(logReader->currentFrame + framesToSkip);
                    framesToSkip = 0;
                }

                Eigen::Matrix4f * currentPose = 0;

                if(groundTruthOdometry)
                {
                    currentPose = new Eigen::Matrix4f;
                    currentPose->setIdentity();
                    *currentPose = groundTruthOdometry->getIncrementalTransformation(logReader->timestamp);
                }

                eFusion->processFrame(logReader->rgb, logReader->depth, logReader->timestamp, currentPose, weightMultiplier);

                if(currentPose)
                {
                    delete currentPose;
                }

                if(frameskip && Stopwatch::getInstance().getTimings().at("Run") > 1000.f / 30.f)
                {
                    framesToSkip = int(Stopwatch::getInstance().getTimings().at("Run") / (1000.f / 30.f));
                }
            }
        }
        else
        {
            eFusion->predict();
        }

        TICK("GUI");

        if(gui->followPose->Get())
        {
            pangolin::OpenGlMatrix mv;

            Eigen::Matrix4f currPose = eFusion->getCurrPose();
            Eigen::Matrix3f currRot = currPose.topLeftCorner(3, 3);

            Eigen::Quaternionf currQuat(currRot);
            Eigen::Vector3f forwardVector(0, 0, 1);
            Eigen::Vector3f upVector(0, iclnuim ? 1 : -1, 0);

            Eigen::Vector3f forward = (currQuat * forwardVector).normalized();
            Eigen::Vector3f up = (currQuat * upVector).normalized();

            Eigen::Vector3f eye(currPose(0, 3), currPose(1, 3), currPose(2, 3));

            eye -= forward;

            Eigen::Vector3f at = eye + forward;

            Eigen::Vector3f z = (eye - at).normalized();  // Forward
            Eigen::Vector3f x = up.cross(z).normalized(); // Right
            Eigen::Vector3f y = z.cross(x);

            Eigen::Matrix4d m;
            m << x(0),  x(1),  x(2),  -(x.dot(eye)),
                 y(0),  y(1),  y(2),  -(y.dot(eye)),
                 z(0),  z(1),  z(2),  -(z.dot(eye)),
                    0,     0,     0,              1;

            memcpy(&mv.m[0], m.data(), sizeof(Eigen::Matrix4d));

            gui->s_cam.SetModelViewMatrix(mv);
        }

        gui->preCall();

        std::stringstream stri;
        stri << eFusion->getModelToModel().lastICPCount;
        gui->trackInliers->Ref().Set(stri.str());

        std::stringstream stre;
        stre << (isnan(eFusion->getModelToModel().lastICPError) ? 0 : eFusion->getModelToModel().lastICPError);
        gui->trackRes->Ref().Set(stre.str());

        if(!gui->pause->Get())
        {
            gui->resLog.Log((isnan(eFusion->getModelToModel().lastICPError) ? std::numeric_limits<float>::max() : eFusion->getModelToModel().lastICPError), icpErrThresh);
            gui->inLog.Log(eFusion->getModelToModel().lastICPCount, icpCountThresh);
        }

        Eigen::Matrix4f pose = eFusion->getCurrPose();

        if(gui->drawRawCloud->Get() || gui->drawFilteredCloud->Get())
        {
            eFusion->computeFeedbackBuffers();
        }

        if(gui->drawRawCloud->Get())
        {
            eFusion->getFeedbackBuffers().at(FeedbackBuffer::RAW)->render(gui->s_cam.GetProjectionModelViewMatrix(), pose, gui->drawNormals->Get(), gui->drawColors->Get());
        }

        if(gui->drawFilteredCloud->Get())
        {
            eFusion->getFeedbackBuffers().at(FeedbackBuffer::FILTERED)->render(gui->s_cam.GetProjectionModelViewMatrix(), pose, gui->drawNormals->Get(), gui->drawColors->Get());
        }

        if(gui->drawGlobalModel->Get())
        {
            glFinish();
            TICK("Global");

            if(gui->drawFxaa->Get())
            {
                gui->drawFXAA(gui->s_cam.GetProjectionModelViewMatrix(),
                              gui->s_cam.GetModelViewMatrix(),
                              eFusion->getGlobalModel().model(),
                              eFusion->getConfidenceThreshold(),
                              eFusion->getTick(),
                              eFusion->getTimeDelta(),
                              iclnuim);
            }
            else
            {
                eFusion->getGlobalModel().renderPointCloud(gui->s_cam.GetProjectionModelViewMatrix(),
                                                           eFusion->getConfidenceThreshold(),
                                                           gui->drawUnstable->Get(),
                                                           gui->drawNormals->Get(),
                                                           gui->drawColors->Get(),
                                                           gui->drawPoints->Get(),
                                                           gui->drawWindow->Get(),
                                                           gui->drawTimes->Get(),
                                                           eFusion->getTick(),
                                                           eFusion->getTimeDelta());
            }
            glFinish();
            TOCK("Global");
        }

        if(eFusion->getLost())
        {
            glColor3f(1, 1, 0);
        }
        else
        {
            glColor3f(1, 0, 1);
        }
        gui->drawFrustum(pose);
        glColor3f(1, 1, 1);

        if(gui->drawFerns->Get())
        {
            glColor3f(0, 0, 0);
            for(size_t i = 0; i < eFusion->getFerns().frames.size(); i++)
            {
                if((int)i == eFusion->getFerns().lastClosest)
                    continue;

                gui->drawFrustum(eFusion->getFerns().frames.at(i)->pose);
            }
            glColor3f(1, 1, 1);
        }

        if(gui->drawDefGraph->Get())
        {
            const std::vector<GraphNode*> & graph = eFusion->getLocalDeformation().getGraph();

            for(size_t i = 0; i < graph.size(); i++)
            {
                pangolin::glDrawCross(graph.at(i)->position(0),
                                      graph.at(i)->position(1),
                                      graph.at(i)->position(2),
                                      0.1);

                for(size_t j = 0; j < graph.at(i)->neighbours.size(); j++)
                {
                    pangolin::glDrawLine(graph.at(i)->position(0),
                                         graph.at(i)->position(1),
                                         graph.at(i)->position(2),
                                         graph.at(graph.at(i)->neighbours.at(j))->position(0),
                                         graph.at(graph.at(i)->neighbours.at(j))->position(1),
                                         graph.at(graph.at(i)->neighbours.at(j))->position(2));
                }
            }
        }

        if(eFusion->getFerns().lastClosest != -1)
        {
            glColor3f(1, 0, 0);
            gui->drawFrustum(eFusion->getFerns().frames.at(eFusion->getFerns().lastClosest)->pose);
            glColor3f(1, 1, 1);
        }

        const std::vector<PoseMatch> & poseMatches = eFusion->getPoseMatches();

        int maxDiff = 0;
        for(size_t i = 0; i < poseMatches.size(); i++)
        {
            if(poseMatches.at(i).secondId - poseMatches.at(i).firstId > maxDiff)
            {
                maxDiff = poseMatches.at(i).secondId - poseMatches.at(i).firstId;
            }
        }

        for(size_t i = 0; i < poseMatches.size(); i++)
        {
            if(gui->drawDeforms->Get())
            {
                if(poseMatches.at(i).fern)
                {
                    glColor3f(1, 0, 0);
                }
                else
                {
                    glColor3f(0, 1, 0);
                }
                for(size_t j = 0; j < poseMatches.at(i).constraints.size(); j++)
                {
                    pangolin::glDrawLine(poseMatches.at(i).constraints.at(j).sourcePoint(0), poseMatches.at(i).constraints.at(j).sourcePoint(1), poseMatches.at(i).constraints.at(j).sourcePoint(2),
                                         poseMatches.at(i).constraints.at(j).targetPoint(0), poseMatches.at(i).constraints.at(j).targetPoint(1), poseMatches.at(i).constraints.at(j).targetPoint(2));
                }
            }
        }
        glColor3f(1, 1, 1);

        eFusion->normaliseDepth(0.3f, gui->depthCutoff->Get());

        for(std::map<std::string, GPUTexture*>::const_iterator it = eFusion->getTextures().begin(); it != eFusion->getTextures().end(); ++it)
        {
            if(it->second->draw)
            {
                gui->displayImg(it->first, it->second);
            }
        }

        eFusion->getIndexMap().renderDepth(gui->depthCutoff->Get());

        gui->displayImg("ModelImg", eFusion->getIndexMap().imageTex());
        gui->displayImg("Model", eFusion->getIndexMap().drawTex());

        std::stringstream strs;
        strs << eFusion->getGlobalModel().lastCount();

        gui->totalPoints->operator=(strs.str());

        std::stringstream strs2;
        strs2 << eFusion->getLocalDeformation().getGraph().size();

        gui->totalNodes->operator=(strs2.str());

        std::stringstream strs3;
        strs3 << eFusion->getFerns().frames.size();

        gui->totalFerns->operator=(strs3.str());

        std::stringstream strs4;
        strs4 << eFusion->getDeforms();

        gui->totalDefs->operator=(strs4.str());

        std::stringstream strs5;
        strs5 << eFusion->getTick() << "/" << logReader->getNumFrames();

        gui->logProgress->operator=(strs5.str());

        std::stringstream strs6;
        strs6 << eFusion->getFernDeforms();

        gui->totalFernDefs->operator=(strs6.str());

        gui->postCall();

        logReader->flipColors = gui->flipColors->Get();
        eFusion->setRgbOnly(gui->rgbOnly->Get());
        eFusion->setPyramid(gui->pyramid->Get());
        eFusion->setFastOdom(gui->fastOdom->Get());
        eFusion->setConfidenceThreshold(gui->confidenceThreshold->Get());
        eFusion->setDepthCutoff(gui->depthCutoff->Get());
        eFusion->setIcpWeight(gui->icpWeight->Get());
        eFusion->setSo3(gui->so3->Get());
        eFusion->setFrameToFrameRGB(gui->frameToFrameRGB->Get());

        resetButton = pangolin::Pushed(*gui->reset);

        if(gui->autoSettings)
        {
            static bool last = gui->autoSettings->Get();

            if(gui->autoSettings->Get() != last)
            {
                last = gui->autoSettings->Get();
                static_cast<LiveLogReader *>(logReader)->setAuto(last);
            }
        }

        Stopwatch::getInstance().sendAll();

        if(resetButton)
        {
            break;
        }

        if(pangolin::Pushed(*gui->save))
        {
            eFusion->savePly();
        }

        TOCK("GUI");
    }
}
/* ---[ */
int
main (int argc, char** argv)
{
  print_info ("Transform a cloud. For more information, use: %s -h\n", argv[0]);

  bool help = false;
  parse_argument (argc, argv, "-h", help);
  if (argc < 3 || help)
  {
    printHelp (argc, argv);
    return (-1);
  }

  // Parse the command line arguments for .pcd files
  std::vector<int> p_file_indices;
  p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
  if (p_file_indices.size () != 2)
  {
    print_error ("Need one input PCD file and one output PCD file to continue.\n");
    return (-1);
  }

  // Initialize the transformation matrix
  Eigen::Matrix4f tform; 
  tform.setIdentity ();

  // Command line parsing
  float dx, dy, dz;
  std::vector<float> values;

  if (parse_3x_arguments (argc, argv, "-trans", dx, dy, dz) > -1)
  {
    tform (0, 3) = dx;
    tform (1, 3) = dy;
    tform (2, 3) = dz;
  }

  if (parse_x_arguments (argc, argv, "-quat", values) > -1)
  {
    if (values.size () == 4)
    {
      const float& x = values[0];
      const float& y = values[1];
      const float& z = values[2];
      const float& w = values[3];
      tform.topLeftCorner (3, 3) = Eigen::Matrix3f (Eigen::Quaternionf (w, x, y, z));
    }
    else
    {
      print_error ("Wrong number of values given (%zu): ", values.size ());
      print_error ("The quaternion specified with -quat must contain 4 elements (w,x,y,z).\n");
    }
  }

  if (parse_x_arguments (argc, argv, "-axisangle", values) > -1)
  {
    if (values.size () == 4)
    {
      const float& ax = values[0];
      const float& ay = values[1];
      const float& az = values[2];
      const float& theta = values[3];
      tform.topLeftCorner (3, 3) = Eigen::Matrix3f (Eigen::AngleAxisf (theta, Eigen::Vector3f (ax, ay, az)));
    }
    else
    {
      print_error ("Wrong number of values given (%zu): ", values.size ());
      print_error ("The rotation specified with -axisangle must contain 4 elements (ax,ay,az,theta).\n");
    }
  }

  if (parse_x_arguments (argc, argv, "-matrix", values) > -1)
  {
    if (values.size () == 9 || values.size () == 16)
    {
      int n = values.size () == 9 ? 3 : 4;
      for (int r = 0; r < n; ++r)
        for (int c = 0; c < n; ++c)
          tform (r, c) = values[n*r+c];
    }
    else
    {
      print_error ("Wrong number of values given (%zu): ", values.size ());
      print_error ("The transformation specified with -matrix must be 3x3 (9) or 4x4 (16).\n");
    }
  }

  // Load the first file
  sensor_msgs::PointCloud2::Ptr cloud (new sensor_msgs::PointCloud2);
  if (!loadCloud (argv[p_file_indices[0]], *cloud)) 
    return (-1);

  // Apply the transform
  sensor_msgs::PointCloud2 output;
  compute (cloud, output, tform);

  // Check if a scaling parameter has been given
  double divider[3];
  if (parse_3x_arguments (argc, argv, "-scale", divider[0], divider[1], divider[2]) > -1)
  {
    print_highlight ("Scaling XYZ data with the following values: %f, %f, %f\n", divider[0], divider[1], divider[2]);
    scaleInPlace (output, divider);
  }

  // Save into the second file
  saveCloud (argv[p_file_indices[1]], output);
}