Eigen::Matrix4f
parse_registration(turtle_input& input, const std::string& guid_0,
const std::string& guid_1) {
std::pair<std::string, bool> t = parse_transformation_string(input, guid_0, guid_1);
std::istringstream iss(t.first);
std::vector<std::string> tokens{std::istream_iterator<std::string>{iss}, std::istream_iterator<std::string>{}};
assert(tokens.size() == 16);
Eigen::Matrix4f m;
for (uint32_t i = 0; i < 4; ++i) {
for (uint32_t j = 0; j < 4; ++j) {
double value;
std::stringstream convert_str(tokens[i*4+j]);
convert_str >> value;
convert_str.str("");
m(i, j) = value;
}
}
if (t.second) {
Eigen::Matrix4f inv = m.inverse();
m = inv;
}
return m;
}
Eigen::Matrix4f GroundTruthOdometry::getTransformation(uint64_t timestamp)
{
Eigen::Matrix4f pose = Eigen::Matrix4f::Identity();
if(last_utime != 0)
{
std::map<uint64_t, Eigen::Isometry3f>::const_iterator it = camera_trajectory.find(last_utime);
if (it == camera_trajectory.end())
{
last_utime = timestamp;
return pose;
}
//Poses are stored in the file in iSAM basis, undo it
Eigen::Matrix4f M;
M << 0, 0, 1, 0,
-1, 0, 0, 0,
0, -1, 0, 0,
0, 0, 0, 1;
pose = M.inverse() * camera_trajectory[timestamp] * M;
}
else
{
std::map<uint64_t, Eigen::Isometry3f>::const_iterator it = camera_trajectory.find(timestamp);
Eigen::Isometry3f ident = it->second;
pose = Eigen::Matrix4f::Identity();
camera_trajectory[last_utime] = ident;
}
last_utime = timestamp;
return pose;
}
void Scene::initScene(CloudPtr &pc_in, CloudPtr &pc_transformed, MatrixXf boundBox, Eigen::Matrix4f eigen_virtualFromFocus_old)
{
pc_scene.reset (new Cloud);
pc_scene_focus.reset (new Cloud);
pc_scene_focus_back.reset(new Cloud);
for(int i=0;i<pc_in->points.size();i++){
PointT point_in = pc_in->points[i];
PointT point_transformed = pc_transformed->points[i];
// cut off
if(point_transformed.x<boundBox(0,0) && point_transformed.x>boundBox(0,1) && point_transformed.y<boundBox(1,0) && point_transformed.y>boundBox(1,1) && point_transformed.z<boundBox(2,0) && point_transformed.z>boundBox(2,1)){
pc_scene->points.push_back(point_in);
pc_scene_focus->points.push_back(point_transformed);
}
}
// return back pc_scene to the original cam pos
Eigen::Matrix4f inv = eigen_virtualFromFocus_old.inverse();
for(int i=0;i<pc_scene_focus->points.size();i++){
PointT point = pc_scene_focus->points[i];
PointT point_back;
point_back.x = inv(0,0)*point.x + inv(0,1)*point.y + inv(0,2)*point.z + inv(0,3);
point_back.y = inv(1,0)*point.x + inv(1,1)*point.y + inv(1,2)*point.z + inv(1,3);
point_back.z = inv(2,0)*point.x + inv(2,1)*point.y + inv(2,2)*point.z + inv(2,3);
pc_scene_focus_back->points.push_back(point_back);
}
// if(USENORM) calcNormal();
}
void Communication::publish_objectToGrasp_moveitFormat(){
ros::Rate r(1);
ros::NodeHandle node;
static tf::TransformBroadcaster br;
Eigen::Matrix4f camToWorldMatrix; camToWorldMatrix.setZero();camToWorldMatrix(0,2) = 1; camToWorldMatrix(1,0) = -1; camToWorldMatrix(2,1) = -1; camToWorldMatrix(3,3) = 1;
while(node.ok()){
pcl::PointCloud<PointT>::Ptr object_pc = m_object_ex_ptr->getObjectToGrasp();
pcl::PointCloud<PointT>::Ptr object_pc_transformed(new pcl::PointCloud<PointT>);
// Eigen::Vector4f c = m_object_ex_ptr->getGraspCentroid(); c(3)=1;
// tf::Transform simpleTF;
tf::StampedTransform camToJacoTf;
tf::TransformListener listener;
bool tf_ready = listener.waitForTransform("camera_rgb_frame","root",ros::Time(0),ros::Duration(5.0));
if(object_pc->size() > 0 && tf_ready){
listener.lookupTransform("camera_rgb_frame","root",ros::Time(0),camToJacoTf);
Eigen::Matrix4f camToJacoMatrix;
pcl_ros::transformAsMatrix(camToJacoTf,camToJacoMatrix);
Eigen::Matrix4f combinedMatrix = camToJacoMatrix.inverse() * camToWorldMatrix;
// Eigen::Vector4f result = combinedMatrix * c;
// Eigen::Matrix4f res; res(0,3) = result(0); res(1,3) = result(1); res(2,3) = result(2); res(3,3) = 1;
// simpleTF = tfFromEigen(res);
// br.sendTransform(tf::StampedTransform(simpleTF, ros::Time::now(), "root", "object_centroid_test"));
pcl::transformPointCloud(*object_pc, *object_pc_transformed, combinedMatrix);
// std::cout << "old : " << object_pc->at(100) << std::endl;
// std::cout << "new : " << object_pc_transformed->at(100) << std::endl;
ObjectToGrasp_publisher_.publish(object_pc_transformed);
}
r.sleep();
}
}
void IndexMap::predictIndices(const Eigen::Matrix4f & pose,
const int & time,
const std::pair<GLuint, GLuint> & model,
const float depthCutoff,
const int timeDelta)
{
indexFrameBuffer.Bind();
glPushAttrib(GL_VIEWPORT_BIT);
glViewport(0, 0, indexRenderBuffer.width, indexRenderBuffer.height);
glClearColor(0, 0, 0, 0);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
indexProgram->Bind();
Eigen::Matrix4f t_inv = pose.inverse();
Eigen::Vector4f cam(Intrinsics::getInstance().cx() * IndexMap::FACTOR,
Intrinsics::getInstance().cy() * IndexMap::FACTOR,
Intrinsics::getInstance().fx() * IndexMap::FACTOR,
Intrinsics::getInstance().fy() * IndexMap::FACTOR);
indexProgram->setUniform(Uniform("t_inv", t_inv));
indexProgram->setUniform(Uniform("cam", cam));
indexProgram->setUniform(Uniform("maxDepth", depthCutoff));
indexProgram->setUniform(Uniform("cols", (float)Resolution::getInstance().cols() * IndexMap::FACTOR));
indexProgram->setUniform(Uniform("rows", (float)Resolution::getInstance().rows() * IndexMap::FACTOR));
indexProgram->setUniform(Uniform("time", time));
indexProgram->setUniform(Uniform("timeDelta", timeDelta));
glBindBuffer(GL_ARRAY_BUFFER, model.first);
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, 0);
glEnableVertexAttribArray(1);
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, reinterpret_cast<GLvoid*>(sizeof(Eigen::Vector4f)));
glEnableVertexAttribArray(2);
glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, reinterpret_cast<GLvoid*>(sizeof(Eigen::Vector4f) * 2));
glDrawTransformFeedback(GL_POINTS, model.second);
glDisableVertexAttribArray(0);
glDisableVertexAttribArray(1);
glDisableVertexAttribArray(2);
glBindBuffer(GL_ARRAY_BUFFER, 0);
indexFrameBuffer.Unbind();
indexProgram->Unbind();
glPopAttrib();
glFinish();
}
bool isOdometryContinuousMotion(Eigen::Matrix4f &prevPose, Eigen::Matrix4f &currPose, float thresDist = 0.1)
{
Eigen::Matrix4f relativePose = prevPose.inverse() * currPose;
if( relativePose.block(0,3,3,1).norm() > thresDist )
return false;
return true;
}
void Scene::GetCameraRay(double x, double y, Eigen::Vector3d* origin, Eigen::Vector3d* ray) {
Eigen::Matrix4f inverse;
inverse = g_viewMatrix.inverse();
Eigen::Vector4f preVec;
preVec << (2 * x / DDWIDTH) - 1, 1 - (2 * y / DDHEIGHT), 2 * .5 - 1, 1;
(*origin)[0] = xpos;
(*origin)[1] = ypos;
(*origin)[2] = zpos;
Eigen::Vector4f ori = inverse * preVec;
(*ray)[0] = ori[0] - (*origin)[0];
(*ray)[1] = ori[1] - (*origin)[1];
(*ray)[2] = ori[2] - (*origin)[2];
}
void DynamicsRobot::setGlobalPose(Eigen::Matrix4f &gp)
{
Eigen::Matrix4f currentPose = robot->getGlobalPose();
Eigen::Matrix4f delta = gp * currentPose.inverse();
robot->setGlobalPose(gp);
std::map<VirtualRobot::RobotNodePtr, DynamicsObjectPtr>::iterator it = dynamicRobotNodes.begin();
while (it != dynamicRobotNodes.end())
{
Eigen::Matrix4f newPose = it->second->getSceneObject()->getGlobalPose() * delta;
it->second->setPose(newPose);
it++;
}
}
void DepthFrame::getRegisteredAndReferencedPointCloud(pcl::PointCloud<pcl::PointXYZ>& cloud)
{
pcl::PointXYZ regReferencePoint = getRegisteredReferencePoint();
// Build a translation matrix to the registered reference the cloud after its own registration
Eigen::Matrix4f E = Eigen::Matrix4f::Identity();
E.col(3) = regReferencePoint.getVector4fMap(); // set translation column
// Apply registration first and then referenciation (right to left order in matrix product)
pcl::PointCloud<pcl::PointXYZ>::Ptr pCloudTmp (new pcl::PointCloud<pcl::PointXYZ>);
getPointCloud(*pCloudTmp);
pcl::transformPointCloud(*pCloudTmp, cloud, E.inverse() * m_T);
}
void SQ_fitter<PointT>::getBoundingBox(const PointCloudPtr &_cloud,
double _dim[3],
double _trans[3],
double _rot[3] ) {
// 1. Compute the bounding box center
Eigen::Vector4d centroid;
pcl::compute3DCentroid( *_cloud, centroid );
_trans[0] = centroid(0);
_trans[1] = centroid(1);
_trans[2] = centroid(2);
// 2. Compute main axis orientations
pcl::PCA<PointT> pca;
pca.setInputCloud( _cloud );
Eigen::Vector3f eigVal = pca.getEigenValues();
Eigen::Matrix3f eigVec = pca.getEigenVectors();
// Make sure 3 vectors are normal w.r.t. each other
Eigen::Vector3f temp;
eigVec.col(2) = eigVec.col(0); // Z
Eigen::Vector3f v3 = (eigVec.col(1)).cross( eigVec.col(2) );
eigVec.col(0) = v3;
Eigen::Vector3f rpy = eigVec.eulerAngles(2,1,0);
_rot[0] = (double)rpy(2);
_rot[1] = (double)rpy(1);
_rot[2] = (double)rpy(0);
// Transform _cloud
Eigen::Matrix4f transf = Eigen::Matrix4f::Identity();
transf.block(0,3,3,1) << (float)centroid(0), (float)centroid(1), (float)centroid(2);
transf.block(0,0,3,3) = eigVec;
Eigen::Matrix4f tinv; tinv = transf.inverse();
PointCloudPtr cloud_temp( new pcl::PointCloud<PointT>() );
pcl::transformPointCloud( *_cloud, *cloud_temp, tinv );
// Get maximum and minimum
PointT minPt; PointT maxPt;
pcl::getMinMax3D( *cloud_temp, minPt, maxPt );
_dim[0] = ( maxPt.x - minPt.x ) / 2.0;
_dim[1] = ( maxPt.y - minPt.y ) / 2.0;
_dim[2] = ( maxPt.z - minPt.z ) / 2.0;
}
void Camera::applyViewMatrix(MatrixStack *MV) const
{
// Create the translation and rotation matrices
Eigen::Matrix4f T = Eigen::Matrix4f::Identity();
T(0,3) = position(0);
T(1,3) = position(1);
T(2,3) = position(2);
Eigen::Matrix4f YR = Eigen::Matrix4f::Identity();
YR.block<3,3>(0,0) = Eigen::AngleAxisf(yawRotation, Eigen::Vector3f(0.0f, 1.0f, 0.0f)).toRotationMatrix();
Eigen::Matrix4f PR = Eigen::Matrix4f::Identity();
PR.block<3,3>(0,0) = Eigen::AngleAxisf(pitchRotation, Eigen::Vector3f(1.0f, 0.0f, 0.0f)).toRotationMatrix();
// The matrix C is the product of these matrices
Eigen::Matrix4f C = T * YR * PR; // Also apply rotations here
// The view matrix is the inverse
Eigen::Matrix4f V = C.inverse();
// Add to the matrix stack
MV->multMatrix(V);
}
void Scene::focusSceneUpdate(CloudPtr &pc_in, tf::Transform &transform_camFromBase, tf::Transform &transform_baseFromfocus, MatrixXf boundBox, Eigen::Matrix4f eigen_virtualFromFocus_old)
{
pc_scene.reset (new Cloud);
pc_scene_focus.reset (new Cloud);
pc_scene_base.reset(new Cloud);
pc_scene_focus_back.reset(new Cloud);
CloudPtr pc_scene_focus_temp;
pc_scene_focus_temp.reset (new Cloud);
Eigen::Matrix4f eigen_camFromBase;
transformAsMatrix (transform_camFromBase, eigen_camFromBase);
if(DEBUG_ALGORITHM) cout<<"-------------camupdated"<<endl;
if(DEBUG_ALGORITHM) cout<<eigen_camFromBase<<endl;
pcl_ros::transformPointCloud(*pc_in, *pc_scene_base, transform_camFromBase);
pcl_ros::transformPointCloud(*pc_scene_base, *pc_scene_focus_temp, transform_baseFromfocus);
for(int i=0;i<pc_in->points.size();i++){
PointT point_in = pc_in->points[i];
PointT point_transformed = pc_scene_focus_temp->points[i];
// cut off
if(point_transformed.x<boundBox(0,0) && point_transformed.x>boundBox(0,1) && point_transformed.y<boundBox(1,0) && point_transformed.y>boundBox(1,1) && point_transformed.z<boundBox(2,0) && point_transformed.z>boundBox(2,1)){
pc_scene->points.push_back(point_in);
pc_scene_focus->points.push_back(point_transformed);
}
}
// return back pc_scene to the original cam pos
Eigen::Matrix4f inv = eigen_virtualFromFocus_old.inverse();
for(int i=0;i<pc_scene_focus->points.size();i++){
PointT point = pc_scene_focus->points[i];
PointT point_back;
point_back.x = inv(0,0)*point.x + inv(0,1)*point.y + inv(0,2)*point.z + inv(0,3);
point_back.y = inv(1,0)*point.x + inv(1,1)*point.y + inv(1,2)*point.z + inv(1,3);
point_back.z = inv(2,0)*point.x + inv(2,1)*point.y + inv(2,2)*point.z + inv(2,3);
pc_scene_focus_back->points.push_back(point_back);
}
// if(USENORM) calcNormal();
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr
point_get_reg_cloud (pcl::PointCloud<pcl::PointXYZRGB>::Ptr source_cloud, pcl::PointCloud<pcl::PointXYZRGB>::Ptr target_cloud)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr reduced_source, reduced_target;
reduced_source = point_cloud_xyzrgb_to_xyz(source_cloud); //Here, we create new cloud. So you can handle reduced clouds regardless of orignial ones
reduced_target = point_cloud_xyzrgb_to_xyz(target_cloud);
reduced_source = point_prepare_icp(reduced_source);
reduced_target = point_prepare_icp(reduced_target);
//Prepare clouds to be icp-ed
Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
Eigen::Matrix4f target_to_source_transformation;
//Transformation Matrix
pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
//ICP Filter
pcl::PointCloud<pcl::PointXYZ>::Ptr icp_result (new pcl::PointCloud<pcl::PointXYZ>);
std::vector<unsigned int> score;
for(int i = 0; i < reg_iteration ; i ++)
{
icp.setInputCloud(reduced_source);
icp.setInputTarget(reduced_target);
//set ICP
icp.align(*reduced_source);
transform *= icp.getFinalTransformation();
unsigned int current_score = (unsigned int) icp.getFitnessScore();
if(i>1 && score.back()-current_score < 50)
{
std::cout<<"ran"<<i<<"times, with score : "<<icp.getFitnessScore() << std::endl;
break;
}
else
score.push_back(current_score);
}
target_to_source_transformation = transform.inverse();
//"We got transformation matrix, now transforming target into source's frame"
pcl::transformPointCloud(*target_cloud, *target_cloud, target_to_source_transformation);
//"Transformation done. Returning transformed cloud"
*source_cloud += *target_cloud;
//Merge them
return source_cloud;
}
Eigen::Matrix4f computeGroundTruth(const std::string path_groundtruth, const int id)
{
std::string line;
std::ifstream file(path_groundtruth);
int offset = 3;
std::vector<std::string> splitVec;
int index = id * 5 + offset;
Eigen::Matrix4f transformationMatrix;
if (file.is_open())
{
int count = 1;
bool done = false;
while (count<index)
{
std::getline(file, line);
count++;
}
//start reading matrix from file
for (int i = 0; i<4; i++)
{
std::getline(file, line);
boost::split(splitVec, line, boost::is_any_of("\t"), boost::token_compress_on);
transformationMatrix.row(i) << boost::lexical_cast<float>(splitVec.at(0)),
boost::lexical_cast<float>(splitVec.at(1)),
boost::lexical_cast<float>(splitVec.at(2)),
boost::lexical_cast<float>(splitVec.at(3));
}
}
else
std::cout << "GroundTruth file not found" << std::endl;
transformationMatrix.inverse();
return transformationMatrix;
}
void
pcl::ihs::OfflineIntegration::computationThread ()
{
std::vector <std::string> filenames;
if (!this->getFilesFromDirectory (path_dir_, ".pcd", filenames))
{
std::cerr << "ERROR in offline_integration.cpp: Could not get the files from the directory\n";
return;
}
// First cloud is reference model
std::cerr << "Processing file " << std::setw (5) << 1 << " / " << filenames.size () << std::endl;
CloudXYZRGBNormalPtr cloud_model (new CloudXYZRGBNormal ());
Eigen::Matrix4f T = Eigen::Matrix4f::Identity ();
if (!this->load (filenames [0], cloud_model, T))
{
std::cerr << "ERROR in offline_integration.cpp: Could not load the model cloud.\n";
return;
}
pcl::transformPointCloudWithNormals (*cloud_model, *cloud_model, T);
if (!integration_->reconstructMesh (cloud_model, mesh_model_))
{
std::cerr << "ERROR in offline_integration.cpp: Could not reconstruct the model mesh.\n";
return;
}
Base::setPivot ("model");
Base::addMesh (mesh_model_, "model");
if (filenames.size () < 1)
{
return;
}
for (unsigned int i=1; i<filenames.size (); ++i)
{
std::cerr << "Processing file " << std::setw (5) << i+1 << " / " << filenames.size () << std::endl;
{
boost::mutex::scoped_lock lock (mutex_);
if (destructor_called_) return;
}
boost::mutex::scoped_lock lock_quit (mutex_quit_);
CloudXYZRGBNormalPtr cloud_data (new CloudXYZRGBNormal ());
if (!this->load (filenames [i], cloud_data, T))
{
std::cerr << "ERROR in offline_integration.cpp: Could not load the data cloud.\n";
return;
}
if (!integration_->merge (cloud_data, mesh_model_, T))
{
std::cerr << "ERROR in offline_integration.cpp: merge failed.\n";
return;
}
integration_->age (mesh_model_);
{
lock_quit.unlock ();
boost::mutex::scoped_lock lock (mutex_);
if (destructor_called_) return;
Base::addMesh (mesh_model_, "model", Eigen::Isometry3d (T.inverse ().cast <double> ()));
Base::calcFPS (computation_fps_);
}
}
Base::setPivot ("model");
}
void
RegisteredViewsSource<Full3DPointT, PointInT, OutModelPointT>::loadModel (ModelT & model)
{
const std::string training_view_path = path_ + model.class_ + "/" + model.id_ + "/views/";
const std::string view_pattern = ".*" + view_prefix_ + ".*.pcd";
model.view_filenames_ = io::getFilesInDirectory(training_view_path, view_pattern, false);
std::cout << "Object class: " << model.class_ << ", id: " << model.id_ << ", views: " << model.view_filenames_.size() << std::endl;
typename pcl::PointCloud<Full3DPointT>::Ptr modell (new pcl::PointCloud<Full3DPointT>);
typename pcl::PointCloud<Full3DPointT>::Ptr modell_voxelized (new pcl::PointCloud<Full3DPointT>);
pcl::io::loadPCDFile(path_ + model.class_ + "/" + model.id_ + "/3D_model.pcd", *modell);
float voxel_grid_size = 0.003f;
typename pcl::VoxelGrid<Full3DPointT> grid_;
grid_.setInputCloud (modell);
grid_.setLeafSize (voxel_grid_size, voxel_grid_size, voxel_grid_size);
grid_.setDownsampleAllData (true);
grid_.filter (*modell_voxelized);
model.normals_assembled_.reset(new pcl::PointCloud<pcl::Normal>);
model.assembled_.reset (new pcl::PointCloud<PointInT>);
pcl::copyPointCloud(*modell_voxelized, *model.assembled_);
pcl::copyPointCloud(*modell_voxelized, *model.normals_assembled_);
if(load_into_memory_)
{
model.views_.resize( model.view_filenames_.size() );
model.indices_.resize( model.view_filenames_.size() );
model.poses_.resize( model.view_filenames_.size() );
model.self_occlusions_.resize( model.view_filenames_.size() );
for (size_t i=0; i<model.view_filenames_.size(); i++)
{
// load training view
const std::string view_file = training_view_path + "/" + model.view_filenames_[i];
model.views_[i].reset( new pcl::PointCloud<PointInT> () );
pcl::io::loadPCDFile (view_file, *model.views_[i]);
// read pose
std::string pose_fn (view_file);
boost::replace_last (pose_fn, view_prefix_, pose_prefix_);
boost::replace_last (pose_fn, ".pcd", ".txt");
Eigen::Matrix4f pose = io::readMatrixFromFile( pose_fn );
model.poses_[i] = pose.inverse(); //the recognizer assumes transformation from M to CC - i think!
// read object mask
model.indices_[i].indices.clear();
std::string obj_indices_fn (view_file);
boost::replace_last (obj_indices_fn, view_prefix_, indices_prefix_);
boost::replace_last (obj_indices_fn, ".pcd", ".txt");
std::ifstream f ( obj_indices_fn.c_str() );
int idx;
while (f >> idx)
model.indices_[i].indices.push_back(idx);
f.close();
model.self_occlusions_[i] = -1.f;
}
}
else
{
/** Convert transform in global (ladybug) coordinates to local (camera) coordinates.
* @param Eigen::Matrix4f transform in global coordinates
* @param int index of the previous camera
* @param int index of the current camera
* @return Eigen::Matrix4f transform in local coordinates */
Eigen::Matrix4f Ladybug2::Ladybug2CamRef(Eigen::Matrix4f TGlobal, int camNoPrev, int camNoCurr)
{
Eigen::Matrix4f TLocalInv = extrinsics_[camNoPrev].inverse() * TGlobal * extrinsics_[camNoCurr];
Eigen::Matrix4f TLocal = TLocalInv.inverse();
return TLocal;
}
/** Convert transform in local (camera) coordinates to global (ladybug) coordinates.
* @param Eigen::Matrix4f transform in local coordinates
* @param int index of the previous camera
* @param int index of the current camera
* @return Eigen::Matrix4f transform in global coordinates */
Eigen::Matrix4f Ladybug2::cam2LadybugRef(Eigen::Matrix4f TLocal, int camNoPrev, int camNoCurr)
{
Eigen::Matrix4f TGlobal = extrinsics_[camNoPrev] * TLocal.inverse() * extrinsics_[camNoCurr].inverse();
return TGlobal;
}
/*
* One and only one callback, now takes cloud, does everything else needed.
*/
void ARPublisher::getTransformationCallback (const sensor_msgs::PointCloud2ConstPtr & msg)
{
sensor_msgs::ImagePtr image_msg(new sensor_msgs::Image);
ARUint8 *dataPtr;
ARMarkerInfo *marker_info;
int marker_num;
int i, k, j;
/* do we need to initialize? */
if(!configured_)
{
if(msg->width == 0 || msg->height == 0)
{
ROS_ERROR ("Deformed cloud! Size = %d, %d.", msg->width, msg->height);
return;
}
cam_param_.xsize = msg->width;
cam_param_.ysize = msg->height;
cam_param_.dist_factor[0] = msg->width/2; // x0 = cX from openCV calibration
cam_param_.dist_factor[1] = msg->height/2; // y0 = cY from openCV calibration
cam_param_.dist_factor[2] = 0; // f = -100*k1 from CV. Note, we had to do mm^2 to m^2, hence 10^8->10^2
cam_param_.dist_factor[3] = 1.0; // scale factor, should probably be >1, but who cares...
arInit ();
}
/* convert cloud to PCL */
PointCloud cloud;
pcl::fromROSMsg(*msg, cloud);
/* get an OpenCV image from the cloud */
pcl::toROSMsg (cloud, *image_msg);
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(image_msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR ("Could not convert from '%s' to 'bgr8'.", image_msg->encoding.c_str ());
}
dataPtr = (ARUint8 *) cv_ptr->image.ptr();
/* detect the markers in the video frame */
if (arDetectMarkerLite (dataPtr, threshold_, &marker_info, &marker_num) < 0)
{
argCleanup ();
return;
}
arPoseMarkers_.markers.clear ();
/* check for known patterns */
for (i = 0; i < objectnum; i++)
{
k = -1;
for (j = 0; j < marker_num; j++)
{
if (object[i].id == marker_info[j].id)
{
if (k == -1)
k = j;
else // make sure you have the best pattern (highest confidence factor)
if (marker_info[k].cf < marker_info[j].cf)
k = j;
}
}
if (k == -1)
{
object[i].visible = 0;
continue;
}
/* create a cloud for marker corners */
int d = marker_info[k].dir;
PointCloud marker;
marker.push_back( cloud.at( (int)marker_info[k].vertex[(4-d)%4][0], (int)marker_info[k].vertex[(4-d)%4][1] ) ); // upper left
marker.push_back( cloud.at( (int)marker_info[k].vertex[(5-d)%4][0], (int)marker_info[k].vertex[(5-d)%4][1] ) ); // upper right
marker.push_back( cloud.at( (int)marker_info[k].vertex[(6-d)%4][0], (int)marker_info[k].vertex[(6-d)%4][1] ) ); // lower right
marker.push_back( cloud.at( (int)marker_info[k].vertex[(7-d)%4][0], (int)marker_info[k].vertex[(7-d)%4][1] ) );
/* create an ideal cloud */
double w = object[i].marker_width;
PointCloud ideal;
ideal.push_back( makeRGBPoint(-w/2,w/2,0) );
ideal.push_back( makeRGBPoint(w/2,w/2,0) );
ideal.push_back( makeRGBPoint(w/2,-w/2,0) );
ideal.push_back( makeRGBPoint(-w/2,-w/2,0) );
/* get transformation */
Eigen::Matrix4f t;
TransformationEstimationSVD obj;
obj.estimateRigidTransformation( marker, ideal, t );
/* get final transformation */
tf::Transform transform = tfFromEigen(t.inverse());
// any(transform == nan)
tf::Matrix3x3 m = transform.getBasis();
tf::Vector3 p = transform.getOrigin();
bool invalid = false;
for(int i=0; i < 3; i++)
for(int j=0; j < 3; j++)
invalid = (invalid || isnan(m[i][j]) || fabs(m[i][j]) > 1.0);
for(int i=0; i < 3; i++)
invalid = (invalid || isnan(p[i]));
if(invalid)
continue;
/* publish the marker */
ar_pose::ARMarker ar_pose_marker;
ar_pose_marker.header.frame_id = msg->header.frame_id;
ar_pose_marker.header.stamp = msg->header.stamp;
ar_pose_marker.id = object[i].id;
ar_pose_marker.pose.pose.position.x = transform.getOrigin().getX();
ar_pose_marker.pose.pose.position.y = transform.getOrigin().getY();
ar_pose_marker.pose.pose.position.z = transform.getOrigin().getZ();
ar_pose_marker.pose.pose.orientation.x = transform.getRotation().getAxis().getX();
ar_pose_marker.pose.pose.orientation.y = transform.getRotation().getAxis().getY();
ar_pose_marker.pose.pose.orientation.z = transform.getRotation().getAxis().getZ();
ar_pose_marker.pose.pose.orientation.w = transform.getRotation().getW();
ar_pose_marker.confidence = marker_info->cf;
arPoseMarkers_.markers.push_back (ar_pose_marker);
/* publish transform */
if (publishTf_)
{
broadcaster_.sendTransform(tf::StampedTransform(transform, msg->header.stamp, msg->header.frame_id, object[i].name));
}
/* publish visual marker */
if (publishVisualMarkers_)
{
tf::Vector3 markerOrigin (0, 0, 0.25 * object[i].marker_width * AR_TO_ROS);
tf::Transform m (tf::Quaternion::getIdentity (), markerOrigin);
tf::Transform markerPose = transform * m; // marker pose in the camera frame
tf::poseTFToMsg (markerPose, rvizMarker_.pose);
rvizMarker_.header.frame_id = msg->header.frame_id;
rvizMarker_.header.stamp = msg->header.stamp;
rvizMarker_.id = object[i].id;
rvizMarker_.scale.x = 1.0 * object[i].marker_width * AR_TO_ROS;
rvizMarker_.scale.y = 1.0 * object[i].marker_width * AR_TO_ROS;
rvizMarker_.scale.z = 0.5 * object[i].marker_width * AR_TO_ROS;
rvizMarker_.ns = "basic_shapes";
rvizMarker_.type = visualization_msgs::Marker::CUBE;
rvizMarker_.action = visualization_msgs::Marker::ADD;
switch (i)
{
case 0:
rvizMarker_.color.r = 0.0f;
rvizMarker_.color.g = 0.0f;
rvizMarker_.color.b = 1.0f;
rvizMarker_.color.a = 1.0;
break;
case 1:
rvizMarker_.color.r = 1.0f;
rvizMarker_.color.g = 0.0f;
rvizMarker_.color.b = 0.0f;
rvizMarker_.color.a = 1.0;
break;
default:
rvizMarker_.color.r = 0.0f;
rvizMarker_.color.g = 1.0f;
rvizMarker_.color.b = 0.0f;
rvizMarker_.color.a = 1.0;
}
rvizMarker_.lifetime = ros::Duration ();
rvizMarkerPub_.publish (rvizMarker_);
ROS_DEBUG ("Published visual marker");
}
}
arMarkerPub_.publish (arPoseMarkers_);
ROS_DEBUG ("Published ar_multi markers");
}
ZMPDistributor::ForceTorque ZMPDistributor::distributeZMP(const Eigen::Vector3f& localAnkleLeft,
const Eigen::Vector3f& localAnkleRight,
const Eigen::Matrix4f& leftFootPoseGroundFrame,
const Eigen::Matrix4f& rightFootPoseGroundFrame,
const Eigen::Vector3f& zmpRefGroundFrame,
Bipedal::SupportPhase phase)
{
Eigen::Matrix4f groundPoseLeft = Bipedal::projectPoseToGround(leftFootPoseGroundFrame);
Eigen::Matrix4f groundPoseRight = Bipedal::projectPoseToGround(rightFootPoseGroundFrame);
Eigen::Vector3f localZMPLeft = VirtualRobot::MathTools::transformPosition(zmpRefGroundFrame, groundPoseLeft.inverse());
Eigen::Vector3f localZMPRight = VirtualRobot::MathTools::transformPosition(zmpRefGroundFrame, groundPoseRight.inverse());
double alpha = computeAlpha(groundPoseLeft, groundPoseRight, zmpRefGroundFrame, localZMPLeft.head(2), localZMPRight.head(2), phase);
//std::cout << "########## " << alpha << " ###########" << std::endl;
ForceTorque ft;
// kg*m/s^2 = N
ft.leftForce = -(1-alpha) * mass * gravity;
ft.rightForce = -alpha * mass * gravity;
// Note we need force as kg*mm/s^2
ft.leftTorque = (localAnkleLeft - localZMPLeft).cross(ft.leftForce * 1000);
ft.rightTorque = (localAnkleRight - localZMPRight).cross(ft.rightForce * 1000);
// ZMP not contained in convex polygone
if (std::fabs(alpha) > std::numeric_limits<float>::epsilon()
&& std::fabs(alpha-1) > std::numeric_limits<float>::epsilon())
{
Eigen::Vector3f leftTorqueGroundFrame = groundPoseLeft.block(0, 0, 3, 3) * ft.leftTorque;
Eigen::Vector3f rightTorqueGroundFrame = groundPoseRight.block(0, 0, 3, 3) * ft.rightTorque;
Eigen::Vector3f tau0 = -1 * (leftTorqueGroundFrame + rightTorqueGroundFrame);
//std::cout << "Tau0World: " << tau0.transpose() << std::endl;
//std::cout << "leftTorqueWorld: " << leftTorqueWorld.transpose() << std::endl;
//std::cout << "rightTorqueWorld: " << rightTorqueWorld.transpose() << std::endl;
// Note: Our coordinate system is different than in the paper!
// Also this is not the same as the ground frame.
Eigen::Vector3f xAxis = leftFootPoseGroundFrame.block(0,3,3,1) + localAnkleLeft
- localAnkleRight - rightFootPoseGroundFrame.block(0,3,3,1);
xAxis /= xAxis.norm();
Eigen::Vector3f zAxis(0, 0, 1);
Eigen::Vector3f yAxis = zAxis.cross(xAxis);
yAxis /= yAxis.norm();
Eigen::Matrix3f centerFrame;
centerFrame.block(0, 0, 3, 1) = xAxis;
centerFrame.block(0, 1, 3, 1) = yAxis;
centerFrame.block(0, 2, 3, 1) = zAxis;
//std::cout << "Center frame:\n" << centerFrame << std::endl;
Eigen::Vector3f centerTau0 = centerFrame.transpose() * tau0;
Eigen::Vector3f leftTorqueCenter;
leftTorqueCenter.x() = (1-alpha)*centerTau0.x();
leftTorqueCenter.y() = centerTau0.y() < 0 ? centerTau0.y() : 0;
leftTorqueCenter.z() = 0;
Eigen::Vector3f rightTorqueCenter;
rightTorqueCenter.x() = alpha*centerTau0.x();
rightTorqueCenter.y() = centerTau0.y() < 0 ? 0 : centerTau0.y();
rightTorqueCenter.z() = 0;
//std::cout << "Tau0Center: " << centerTau0.transpose() << std::endl;
//std::cout << "leftTorqueCenter: " << leftTorqueCenter.transpose() << std::endl;
//std::cout << "rightTorqueCenter: " << rightTorqueCenter.transpose() << std::endl;
// tcp <--- ground frame <--- center frame
ft.leftTorque = groundPoseLeft.block(0, 0, 3, 3).transpose() * centerFrame * leftTorqueCenter;
ft.rightTorque = groundPoseRight.block(0, 0, 3, 3).transpose() * centerFrame * rightTorqueCenter;
}
// Torque depends on timestep, we need a way to do this correctly.
const double torqueFactor = 1;
// convert to Nm
ft.leftTorque *= torqueFactor / 1000.0 / 1000.0;
ft.rightTorque *= torqueFactor / 1000.0 / 1000.0;
//std::cout << "leftTorque: " << ft.leftTorque.transpose() << std::endl;
//std::cout << "rightTorque: " << ft.rightTorque.transpose() << std::endl;
return ft;
}
int volumetric_knt_cuda(int argc, char **argv)
{
Timer timer;
int vol_size = vx_count * vx_size;
float half_vol_size = vol_size * 0.5f;
Eigen::Vector3i voxel_size(vx_size, vx_size, vx_size);
Eigen::Vector3i volume_size(vol_size, vol_size, vol_size);
Eigen::Vector3i voxel_count(vx_count, vx_count, vx_count);
int total_voxels = voxel_count.x() * voxel_count.y() * voxel_count.z();
std::cout << std::fixed
<< "Voxel Count : " << voxel_count.transpose() << std::endl
<< "Voxel Size : " << voxel_size.transpose() << std::endl
<< "Volume Size : " << volume_size.transpose() << std::endl
<< "Total Voxels : " << total_voxels << std::endl
<< std::endl;
timer.start();
KinectFrame knt(filepath);
timer.print_interval("Importing knt frame : ");
Eigen::Affine3f grid_affine = Eigen::Affine3f::Identity();
grid_affine.translate(Eigen::Vector3f(0, 0, half_vol_size));
grid_affine.scale(Eigen::Vector3f(1, 1, -1)); // z is negative inside of screen
Eigen::Matrix4f grid_matrix = grid_affine.matrix();
float knt_near_plane = 0.1f;
float knt_far_plane = 10240.0f;
Eigen::Matrix4f projection = perspective_matrix<float>(KINECT_V2_FOVY, KINECT_V2_DEPTH_ASPECT_RATIO, knt_near_plane, knt_far_plane);
Eigen::Matrix4f projection_inverse = projection.inverse();
Eigen::Matrix4f view_matrix = Eigen::Matrix4f::Identity();
std::vector<float4> vertices(knt.depth.size(), make_float4(0, 0, 0, 1));
std::vector<float4> normals(knt.depth.size(), make_float4(0, 0, 1, 1));
std::vector<Eigen::Vector2f> grid_voxels_params(total_voxels);
//
// setup image parameters
//
unsigned short image_width = 2;
unsigned short image_height = 2;
uchar4* image_data = new uchar4[image_width * image_height];
memset(image_data, 0, image_width * image_height * sizeof(uchar4));
float4* debug_buffer = new float4[image_width * image_height];
memset(debug_buffer, 0, image_width * image_height * sizeof(float4));
knt_cuda_setup(
vx_count, vx_size,
grid_matrix.data(),
projection.data(),
projection_inverse.data(),
*grid_voxels_params.data()->data(),
KINECT_V2_DEPTH_WIDTH,
KINECT_V2_DEPTH_HEIGHT,
KINECT_V2_DEPTH_MIN,
KINECT_V2_DEPTH_MAX,
vertices.data()[0],
normals.data()[0],
image_width,
image_height,
*image_data,
*debug_buffer
);
timer.start();
knt_cuda_allocate();
knt_cuda_init_grid();
timer.print_interval("Allocating gpu : ");
timer.start();
knt_cuda_copy_host_to_device();
knt_cuda_copy_depth_buffer_to_device(knt.depth.data());
timer.print_interval("Copy host to device : ");
timer.start();
knt_cuda_normal_estimation();
timer.print_interval("Normal estimation : ");
timer.start();
knt_cuda_update_grid(view_matrix.data());
timer.print_interval("Update grid : ");
timer.start();
knt_cuda_grid_params_copy_device_to_host();
knt_cuda_copy_device_to_host();
timer.print_interval("Copy device to host : ");
timer.start();
knt_cuda_free();
timer.print_interval("Cleanup gpu : ");
timer.start();
Eigen::Affine3f grid_affine_2 = Eigen::Affine3f::Identity();
grid_affine_2.translate(Eigen::Vector3f(-half_vol_size, -half_vol_size, -vol_size));
export_volume(
"../../data/grid_volume_gpu_knt.obj",
voxel_count,
voxel_size,
grid_voxels_params);
//grid_affine_2.matrix());
export_obj_with_colors("../../data/knt_grid_frame_normals.obj", vertices, normals);
timer.print_interval("Exporting volume : ");
return 0;
}
void pairAlign(const PointCloud::Ptr cloud_src, const PointCloud::Ptr cloud_tgt,
PointCloud::Ptr output, Eigen::Matrix4f &final_transform, bool downsample = false)
{
PointCloud::Ptr src(new PointCloud);
PointCloud::Ptr tgt(new PointCloud);
pcl::VoxelGrid<PointType> grid;
if(downsample)
{
grid.setLeafSize(0.05, 0.05, 0.05);
grid.setInputCloud(cloud_src);
grid.filter(*src);
grid.setInputCloud(cloud_tgt);
grid.filter(*tgt);
}
else
{
src = cloud_src;
tgt = cloud_tgt;
}
PointCloudWithNormals::Ptr points_with_normals_src (new PointCloudWithNormals);
PointCloudWithNormals::Ptr points_with_normals_tgt (new PointCloudWithNormals);
pcl::NormalEstimation<PointType, PointNormalT> norm_est;
pcl::search::KdTree<PointType>::Ptr tree(new pcl::search::KdTree<PointType> ());
norm_est.setSearchMethod(tree);
norm_est.setKSearch(30);
norm_est.setInputCloud(src);
norm_est.compute(*points_with_normals_src);
pcl::copyPointCloud(*src, *points_with_normals_src);
norm_est.setInputCloud(tgt);
norm_est.compute(*points_with_normals_tgt);
pcl::copyPointCloud(*tgt, *points_with_normals_tgt);
PointRep point_representation;
float alpha[4] = {1.0, 1.0, 1.0, 1.0};
point_representation.setRescaleValues(alpha);
pcl::IterativeClosestPointNonLinear<PointNormalT, PointNormalT> reg;
reg.setTransformationEpsilon(1e-5);
reg.setMaxCorrespondenceDistance(0.15);
reg.setPointRepresentation(boost::make_shared<const PointRep> (point_representation));
reg.setInputCloud(points_with_normals_src);
reg.setInputTarget(points_with_normals_tgt);
//Optimize
Eigen::Matrix4f Ti = Eigen::Matrix4f::Identity(), prev, targetToSource;
PointCloudWithNormals::Ptr reg_result = points_with_normals_src;
reg.setMaximumIterations(2);
for(int i = 0; i < 300; ++i)
{
points_with_normals_src = reg_result;
reg.setInputCloud(points_with_normals_src);
reg.align(*reg_result);
Ti = reg.getFinalTransformation() * Ti;
if(fabs ((reg.getLastIncrementalTransformation() - prev).sum()) <
reg.getTransformationEpsilon())
reg.setMaxCorrespondenceDistance(reg.getMaxCorrespondenceDistance() - 0.001);
prev = reg.getLastIncrementalTransformation();
//showCloudsRight(points_with_normals_tgt, points_with_normals_src);
std::cout << "Fitness: " << reg.getFitnessScore() << std::endl;
}
targetToSource = Ti.inverse();
pcl::transformPointCloud(*cloud_tgt, *output, targetToSource);
p->removePointCloud ("source");
p->removePointCloud ("target");
PointCloudColorHandlerCustom<PointType> cloud_tgt_h (output, 0, 255, 0);
PointCloudColorHandlerCustom<PointType> cloud_src_h (cloud_src, 255, 0, 0);
p->addPointCloud (output, cloud_tgt_h, "target", vp_2);
p->addPointCloud (cloud_src, cloud_src_h, "source", vp_2);
PCL_INFO ("Press q to continue the registration.\n");
p->spinOnce ();
*output += *cloud_src;
final_transform = targetToSource;
}
void GlobalModel::clean(const Eigen::Matrix4f & pose,
const int & time,
GPUTexture * indexMap,
GPUTexture * vertConfMap,
GPUTexture * colorTimeMap,
GPUTexture * normRadMap,
GPUTexture * depthMap,
const float confThreshold,
std::vector<float> & graph,
const int timeDelta,
const float maxDepth,
const bool isFern)
{
assert(graph.size() / 16 < MAX_NODES);
if(graph.size() > 0)
{
//Can be optimised by only uploading new nodes with offset
glBindTexture(GL_TEXTURE_2D, deformationNodes.texture->tid);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, graph.size(), 1, GL_LUMINANCE, GL_FLOAT, graph.data());
}
TICK("Fuse::Copy");
//Next we copy the new unstable vertices from the newUnstableFid transform feedback into the global map
unstableProgram->Bind();
unstableProgram->setUniform(Uniform("time", time));
unstableProgram->setUniform(Uniform("confThreshold", confThreshold));
unstableProgram->setUniform(Uniform("scale", (float)IndexMap::FACTOR));
unstableProgram->setUniform(Uniform("indexSampler", 0));
unstableProgram->setUniform(Uniform("vertConfSampler", 1));
unstableProgram->setUniform(Uniform("colorTimeSampler", 2));
unstableProgram->setUniform(Uniform("normRadSampler", 3));
unstableProgram->setUniform(Uniform("nodeSampler", 4));
unstableProgram->setUniform(Uniform("depthSampler", 5));
unstableProgram->setUniform(Uniform("nodes", (float)(graph.size() / 16)));
unstableProgram->setUniform(Uniform("nodeCols", (float)NODE_TEXTURE_DIMENSION));
unstableProgram->setUniform(Uniform("timeDelta", timeDelta));
unstableProgram->setUniform(Uniform("maxDepth", maxDepth));
unstableProgram->setUniform(Uniform("isFern", (int)isFern));
Eigen::Matrix4f t_inv = pose.inverse();
unstableProgram->setUniform(Uniform("t_inv", t_inv));
unstableProgram->setUniform(Uniform("cam", Eigen::Vector4f(Intrinsics::getInstance().cx(),
Intrinsics::getInstance().cy(),
Intrinsics::getInstance().fx(),
Intrinsics::getInstance().fy())));
unstableProgram->setUniform(Uniform("cols", (float)Resolution::getInstance().cols()));
unstableProgram->setUniform(Uniform("rows", (float)Resolution::getInstance().rows()));
glBindBuffer(GL_ARRAY_BUFFER, vbos[target].first);
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, 0);
glEnableVertexAttribArray(1);
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, reinterpret_cast<GLvoid*>(sizeof(Eigen::Vector4f)));
glEnableVertexAttribArray(2);
glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, reinterpret_cast<GLvoid*>(sizeof(Eigen::Vector4f) * 2));
glEnable(GL_RASTERIZER_DISCARD);
glBindTransformFeedback(GL_TRANSFORM_FEEDBACK, vbos[renderSource].second);
glBindBufferBase(GL_TRANSFORM_FEEDBACK_BUFFER, 0, vbos[renderSource].first);
glBeginTransformFeedback(GL_POINTS);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, indexMap->texture->tid);
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D, vertConfMap->texture->tid);
glActiveTexture(GL_TEXTURE2);
glBindTexture(GL_TEXTURE_2D, colorTimeMap->texture->tid);
glActiveTexture(GL_TEXTURE3);
glBindTexture(GL_TEXTURE_2D, normRadMap->texture->tid);
glActiveTexture(GL_TEXTURE4);
glBindTexture(GL_TEXTURE_2D, deformationNodes.texture->tid);
glActiveTexture(GL_TEXTURE5);
glBindTexture(GL_TEXTURE_2D, depthMap->texture->tid);
glBeginQuery(GL_TRANSFORM_FEEDBACK_PRIMITIVES_WRITTEN, countQuery);
glDrawTransformFeedback(GL_POINTS, vbos[target].second);
glBindBuffer(GL_ARRAY_BUFFER, newUnstableVbo);
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, 0);
glEnableVertexAttribArray(1);
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, reinterpret_cast<GLvoid*>(sizeof(Eigen::Vector4f)));
glEnableVertexAttribArray(2);
glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, Vertex::SIZE, reinterpret_cast<GLvoid*>(sizeof(Eigen::Vector4f) * 2));
glDrawTransformFeedback(GL_POINTS, newUnstableFid);
glEndQuery(GL_TRANSFORM_FEEDBACK_PRIMITIVES_WRITTEN);
glGetQueryObjectuiv(countQuery, GL_QUERY_RESULT, &count);
glEndTransformFeedback();
glDisable(GL_RASTERIZER_DISCARD);
glBindTexture(GL_TEXTURE_2D, 0);
glActiveTexture(GL_TEXTURE0);
glDisableVertexAttribArray(0);
glDisableVertexAttribArray(1);
glDisableVertexAttribArray(2);
glBindBuffer(GL_ARRAY_BUFFER, 0);
glBindTransformFeedback(GL_TRANSFORM_FEEDBACK, 0);
unstableProgram->Unbind();
std::swap(target, renderSource);
glFinish();
TOCK("Fuse::Copy");
}
int main (int argc, char** argv)
{
PointCloudPtr cloud_source (new PointCloud);
PointCloudPtr cloud_target (new PointCloud);
PointCloudPtr featureCloudSourceTemp (new PointCloud);
PointCloudPtr featureCloudTargetTemp (new PointCloud);
PointCloudPtr cloud_converg_sparse_all (new PointCloud);
PointCloudPtr cloud_converg_sparse_correspond (new PointCloud);
PointCloudPtr cloud_target_sparse_correspond (new PointCloud);
PointCloudPtr cloud_converg_dense (new PointCloud);
PointCloudPtr cloud_ransac_estimation (new PointCloud);
PointCloudNormalPtr cloud_source_normals (new PointCloudNormal);
PointCloudNormalPtr cloud_target_normals (new PointCloudNormal);
PointCloudNormalPtr featureCloudSource (new PointCloudNormal);
PointCloudNormalPtr featureCloudTarget (new PointCloudNormal);
Eigen::Matrix4f initialTransform;
std::vector<int> indicesSource;
std::vector<int> indicesTarget;
//Fill in the cloud data
//pcl::PCDReader reader;
//ROS_INFO("Reading saved clouds with normals from file (faster)");
//reader.read ("normals-source.pcd", *cloud_source_normals);
//reader.read ("normals-target.pcd", *cloud_target_normals);
//std::cout << "PointCloud source has: " << cloud_source->points.size () << " data points." << std::endl;
//std::cout << "PointCloud target has: " << cloud_target->points.size () << " data points." << std::endl;
ROS_INFO("Getting test data from a bag file");
getTestDataFromBag(cloud_source, cloud_target, featureCloudSourceTemp, indicesSource, featureCloudTargetTemp, indicesTarget, initialTransform, 0);
Eigen::Matrix4f ransacInverse = initialTransform.inverse();
/*
// remove corresponances with large z values (susceptible to error)
ROS_INFO("Removing feature correspondances with a large depth measurement");
//removeCorrespondancesZThreshold (featureCloudSourceTemp, indicesSource, featureCloudTargetTemp, indicesTarget, 1.3);
ROS_INFO_STREAM("indices source size: " << indicesSource.size() << " indices target size: " << indicesTarget.size());
//calculate normals
ROS_INFO("Calcualting normals");
normalEstimation(cloud_source, cloud_source_normals);
normalEstimation(cloud_target, cloud_target_normals);
ROS_INFO("Converting feature point clouds");
pcl::copyPointCloud (*featureCloudSourceTemp, *featureCloudSource);
pcl::copyPointCloud (*featureCloudTargetTemp, *featureCloudTarget);
// here is a guess transform that was manually set to align point clouds, pure icp performs well with this
PointCloud Final;
Eigen::Matrix4f guess;
guess << 1, 0, 0, 0.07,
0, 1, 0, 0,
0, 0, 1, 0.015,
0, 0, 0, 1;
ROS_INFO("Setting up icp with features");
*/
/* custom icp
pcl::IterativeClosestPointFeatures<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal> icp_features;
icp_features.setMaximumIterations (40);
icp_features.setTransformationEpsilon (1e-9);
icp_features.setMaxCorrespondenceDistance(0.1);
icp_features.setRANSACOutlierRejectionThreshold(0.03);
icp_features.setInputCloud(cloud_source_normals);
icp_features.setInputTarget(cloud_target_normals);
icp_features.setSourceFeatures (featureCloudSource, indicesSource);
icp_features.setTargetFeatures (featureCloudTarget, indicesTarget);
icp_features.setFeatureErrorWeight(0.3); // 1 = feature, 0 = icp
ROS_INFO("Performing rgbd icp.....");
icp_features.align(Final, ransacInverse);
std::cout << "ICP features has finished with converge flag of:" << icp_features.hasConverged() << " score: " <<
icp_features.getFitnessScore() << std::endl;
std::cout << icp_features.getFinalTransformation() << std::endl;
*/
/* std::vector<int> indicesSourceSmall = indicesSource;
std::vector<int> indicesTargetSmall = indicesTarget;
for(std::vector<int>::iterator iterator_ = indicesSource.begin(); iterator_ != indicesSource.end(); ++iterator_) {
*iterator_ = *iterator_ + cloud_source->size();
}
for(std::vector<int>::iterator iterator_ = indicesTarget.begin(); iterator_ != indicesTarget.end(); ++iterator_) {
*iterator_ = *iterator_ + cloud_target->size();
}
PointCloudNormalPtr concatinatedSourceCloud (new PointCloudNormal);
PointCloudNormalPtr concatinatedTargetCloud (new PointCloudNormal);
*concatinatedSourceCloud = *cloud_source_normals;
*concatinatedTargetCloud = *cloud_target_normals;
(*concatinatedSourceCloud) += *featureCloudSource;
(*concatinatedTargetCloud) += *featureCloudTarget;
boost::shared_ptr< TransformationEstimationWDF<pcl::PointXYZRGBNormal,pcl::PointXYZRGBNormal> >
initialTransformWDF(new TransformationEstimationWDF<pcl::PointXYZRGBNormal,pcl::PointXYZRGBNormal>());
float alpha = 1.0;
initialTransformWDF->setAlpha(alpha);
initialTransformWDF->setCorrespondecesDFP(indicesSource, indicesTarget);
// Instantiate ICP
pcl::IterativeClosestPoint<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal> icp_wdf;
// Set the max correspondence distance to 5cm (e.g., correspondences with higher distances will be ignored)
icp_wdf.setMaxCorrespondenceDistance (0.05);
// Set the maximum number of iterations (criterion 1)
icp_wdf.setMaximumIterations (75);
// Set the transformation epsilon (criterion 2)
icp_wdf.setTransformationEpsilon (1e-8);
// Set the euclidean distance difference epsilon (criterion 3)
icp_wdf.setEuclideanFitnessEpsilon (0); //1
// Set TransformationEstimationWDF as ICP transform estimator
icp_wdf.setTransformationEstimation (initialTransformWDF);
icp_wdf.setInputCloud( concatinatedSourceCloud);
icp_wdf.setInputTarget( concatinatedTargetCloud);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_transformed( new pcl::PointCloud<pcl::PointXYZRGBNormal>);
// As before, due to my initial bad naming, it is the "target" that is being transformed
// set initial transform
icp_wdf.align ( *cloud_transformed, ransacInverse); //init_tr );
std::cout << "[SIIMCloudMatch::runICPMatch] Has converged? = " << icp_wdf.hasConverged() << std::endl <<
" fitness score (SSD): " << icp_wdf.getFitnessScore (1000) << std::endl;
icp_wdf.getFinalTransformation ();
/// Final ICP transformation is obtained by multiplying initial transformed with icp refinement
*/
/*------BEST-------------
icp.getMaximumIterations 50
icp.getRANSACOutlierRejectionThreshold() 0.02
icp.getMaxCorrespondenceDistance() 0.03
icp.getTransformationEpsilon () 1e-09
icp.getEuclideanFitnessEpsilon () -1.79769e+308
score: 0.000164332
---------------------
//Normal (non modified) icp for reference
pcl::IterativeClosestPoint<pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal> icp;
icp.setMaximumIterations (20);
std::cerr << "icp.getMaximumIterations " << icp.getMaximumIterations() << std::endl;
icp.setRANSACOutlierRejectionThreshold(0.05);
std::cerr << "icp.getRANSACOutlierRejectionThreshold() " << icp.getRANSACOutlierRejectionThreshold() << std::endl;
icp.setMaxCorrespondenceDistance(0.05);
std::cerr << "icp.getMaxCorrespondenceDistance() " << icp.getMaxCorrespondenceDistance() << std::endl;
//only used for convergence test
icp.setTransformationEpsilon (0);
std::cerr << "icp.getTransformationEpsilon () " << icp.getTransformationEpsilon () << std::endl;
//only used for convergence test
std::cerr << "icp.getEuclideanFitnessEpsilon () " << icp.getEuclideanFitnessEpsilon () << std::endl;
icp.setInputCloud(featureCloudSource);
icp.setInputTarget(featureCloudTarget);
pcl::PointCloud<pcl::PointXYZRGBNormal> Final_reference;
std::cout << "ICP has starts with a score of" << icp.getFitnessScore() << std::endl;
ROS_INFO("Performing standard icp.....");
icp.align(Final_reference);//, guess);
std::cout << "ICP has finished with converge flag of:" << icp.hasConverged() << " score: " << icp.getFitnessScore() << std::endl;
std::cout << icp.getFinalTransformation() << std::endl;
*/
/* ROS_INFO("Writing output clouds...");
transformPointCloud (*featureCloudSourceTemp, *cloud_converg_sparse_all, icp_wdf.getFinalTransformation());
transformPointCloud (*featureCloudSourceTemp, *cloud_converg_sparse_correspond, icp_wdf.getFinalTransformation());
transformPointCloud (*cloud_source, *cloud_converg_dense, icp_wdf.getFinalTransformation());
transformPointCloud (*cloud_source, *cloud_ransac_estimation, ransacInverse);
// remove non correspondences from feature clouds as an addition output
uint8_t col=3;
// *cloud_converg_sparse_correspond = *cloud_converg_sparse_all;
cloud_converg_sparse_correspond->points.resize(indicesSourceSmall.size());
cloud_converg_sparse_correspond->height = 1;
cloud_converg_sparse_correspond->width = (int)indicesSourceSmall.size();
cloud_target_sparse_correspond->points.resize(indicesTargetSmall.size());
cloud_target_sparse_correspond->height = 1;
cloud_target_sparse_correspond->width = (int)indicesTargetSmall.size();
for (size_t cloudId = 0; cloudId < indicesSourceSmall.size(); ++cloudId)
{
cloud_converg_sparse_correspond->points[cloudId].x = cloud_converg_sparse_all->points[indicesSourceSmall[cloudId]].x;
cloud_converg_sparse_correspond->points[cloudId].y = cloud_converg_sparse_all->points[indicesSourceSmall[cloudId]].y;
cloud_converg_sparse_correspond->points[cloudId].z = cloud_converg_sparse_all->points[indicesSourceSmall[cloudId]].z;
cloud_converg_sparse_correspond->points[cloudId].r = col;
cloud_converg_sparse_correspond->points[cloudId].g = col;
cloud_converg_sparse_correspond->points[cloudId].b = col;
cloud_target_sparse_correspond->points[cloudId].x = featureCloudTarget->points[indicesTargetSmall[cloudId]].x;
cloud_target_sparse_correspond->points[cloudId].y = featureCloudTarget->points[indicesTargetSmall[cloudId]].y;
cloud_target_sparse_correspond->points[cloudId].z = featureCloudTarget->points[indicesTargetSmall[cloudId]].z;
cloud_target_sparse_correspond->points[cloudId].r = col;
cloud_target_sparse_correspond->points[cloudId].g = col;
cloud_target_sparse_correspond->points[cloudId].b = col;
//std::cerr << "point " << cloudId << "\n ";
}
pcl::PCDWriter writer;
writer.write ("cloud1-out.pcd", *cloud_source, false);
writer.write ("cloud2-out.pcd", *cloud_target, false);
writer.write ("normals-source.pcd", *cloud_source_normals, false);
writer.write ("normals-target.pcd", *cloud_source_normals, false);
writer.write ("feature-source.pcd", *featureCloudSource, false);
writer.write ("feature-target.pcd", *featureCloudTarget, false);
writer.write ("converged-cloud.pcd", *cloud_converg_dense, false);
writer.write ("converged-feature-all.pcd", *cloud_converg_sparse_all, false);
writer.write ("converged-feature-correspond.pcd", *cloud_converg_sparse_correspond, false);
writer.write ("target-feature-correspond.pcd", *cloud_target_sparse_correspond, false);
writer.write ("ransac_estimation.pcd", *cloud_ransac_estimation, false);
// writer.write ("converged-reference.pcd", Final_reference, false);
*/
return (0);
}
void run(string path, const int &selectSample)
{
std::cout << "SphereGraphSLAM::run... " << std::endl;
// // Create the topological arrangement object
// TopologicalMap360 topologicalMap(Map);
// Map.currentArea = 0;
// // Get the calibration matrices for the different sensors
// Calib360 calib;
// calib.loadExtrinsicCalibration();
// calib.loadIntrinsicCalibration();
// // Create registration object
// RegisterRGBD360 registerer(mrpt::format("%s/config_files/configLocaliser_sphericalOdometry.ini", PROJECT_SOURCE_PATH));
// Filter the point clouds before visualization
FilterPointCloud filter;
int frame = 282; // Skip always the first frame, which sometimes contains errors
int frameOrder = 0;
Eigen::Matrix4f currentPose = Eigen::Matrix4f::Identity();
string fileName = path + mrpt::format("/sphere_images_%d.bin",frame);
// Load first frame
Frame360* frame360 = new Frame360(&calib);
frame360->loadFrame(fileName);
frame360->undistort();
frame360->stitchSphericalImage();
frame360->buildSphereCloud();
frame360->getPlanes();
//frame360->id = frame;
frame360->id = frameOrder;
frame360->node = Map.currentArea;
nearestKF = frameOrder;
filter.filterEuclidean(frame360->sphereCloud);
Map.addKeyframe(frame360,currentPose);
// Map.vOptimizedPoses.push_back( currentPose );
Map.vSelectedKFs.push_back(0);
Map.vTrajectoryIncrements.push_back(0);
// Topological Partitioning
Map.vsAreas.push_back( std::set<unsigned>() );
Map.vsAreas[Map.currentArea].insert(frameOrder);
Map.vsNeighborAreas.push_back( std::set<unsigned>() ); // Vector with numbers of neighbor areas (topological nodes)
Map.vsNeighborAreas[Map.currentArea].insert(Map.currentArea);
topologicalMap.vSSO.push_back( mrpt::math::CMatrix(1,1) );
topologicalMap.vSSO[Map.currentArea](frameOrder,frameOrder) = 0.0;
frame += selectSample;
fileName = path + mrpt::format("/sphere_images_%d.bin",frame);
// Start visualizer
Map360_Visualizer Viewer(Map,1);
// Graph-SLAM
// std::cout << "\t mmConnectionKFs " << Map.mmConnectionKFs.size() << " \n";
// LoopClosure360 loopCloser(Map);
// float areaMatched, currentPlanarArea;
// Frame360 *candidateKF = new Frame360(&calib); // A reference to the last registered frame to add as a keyframe when needed
// std::pair<Eigen::Matrix4f, Eigen::Matrix<float,6,6> > candidateKF_connection; // The register information of the above
GraphOptimizer optimizer;
optimizer.setRigidTransformationType(GraphOptimizer::SixDegreesOfFreedom);
std::cout << "Added vertex: "<< optimizer.addVertex(currentPose.cast<double>()) << std::endl;
bool bHasNewLC = false;
Frame360 *candidateKF = NULL; // A reference to the last registered frame to add as a keyframe when needed
std::pair<Eigen::Matrix4f, Eigen::Matrix<float,6,6> > candidateKF_connection; // The register information of nearestKF
float candidateKF_sso;
// while( true )
// boost::this_thread::sleep (boost::posix_time::milliseconds (10));
bool bPrevKFSelected = true, bGoodTracking = true;
int lastTrackedKF = 0; // Count the number of not tracked frames after the last registered one
// Dense RGB-D alignment
RegisterPhotoICP align360;
align360.setNumPyr(5);
align360.useSaliency(false);
// align360.setVisualization(true);
align360.setGrayVariance(3.f/255);
double selectKF_ICPdist = 0.9;
// double selectKF_ICPdist = 1.1;
double thresholdConnections = 2.5; // Distance in meters to evaluate possible connections
Eigen::Matrix4f rigidTransf_dense = Eigen::Matrix4f::Identity();
Eigen::Matrix4f rigidTransf_dense_ref = rigidTransf_dense;
// The reference of the spherical image and the point Clouds are not the same! I should always use the same coordinate system (TODO)
float angleOffset = 157.5;
Eigen::Matrix4f rotOffset = Eigen::Matrix4f::Identity(); rotOffset(1,1) = rotOffset(2,2) = cos(angleOffset*PI/180); rotOffset(1,2) = sin(angleOffset*PI/180); rotOffset(2,1) = -rotOffset(1,2);
while( fexists(fileName.c_str()) )
{
// Load pointCloud
// if(!bPrevKFSelected)
{
cout << "Frame " << fileName << endl;
frame360 = new Frame360(&calib);
frame360->loadFrame(fileName);
frame360->undistort();
frame360->stitchSphericalImage();
frame360->buildSphereCloud();
frame360->getPlanes();
frame360->id = frameOrder+1;
}
// cout << " Load Keyframe \n" << endl;
// The next frame to process
frame += selectSample;
fileName = path + mrpt::format("/sphere_images_%d.bin",frame);
// Register the pair of frames
bGoodTracking = registerer.RegisterPbMap(Map.vpSpheres[nearestKF], frame360, MAX_MATCH_PLANES, RegisterRGBD360::PLANAR_3DoF);
Matrix4f trackedPosePbMap = registerer.getPose();
cout << "bGoodTracking " << bGoodTracking << " with " << nearestKF << ". Distance "
<< registerer.getPose().block(0,3,3,1).norm() << " entropy " << registerer.calcEntropy() << " matches " << registerer.getMatchedPlanes().size() << " area " << registerer.getAreaMatched() << endl;
// // If the registration is good, do not evaluate this KF and go to the next
// if( bGoodTracking && registerer.getMatchedPlanes().size() >= min_planes_registration && registerer.getAreaMatched() > 12 )//&& registerer.getPose().block(0,3,3,1).norm() < 1.5 )
// // if( bGoodTracking && registerer.getMatchedPlanes().size() > 6 && registerer.getPose().block(0,3,3,1).norm() < 1.0 )
// {
// float dist_odometry = 0; // diff_roatation
// if(candidateKF)
// dist_odometry = (candidateKF_connection.first.block(0,3,3,1) - trackedPosePbMap.block(0,3,3,1)).norm();
// // else
// // dist_odometry = trackedPosePbMap.norm();
// if( dist_odometry < max_translation_odometry ) // Check that the registration is coherent with the camera movement (i.e. in odometry the registered frames must lay nearby)
// {
// if(trackedPosePbMap.block(0,3,3,1).norm() > min_dist_keyframes) // Minimum distance to select a possible KF
// {
// cout << "Set candidateKF \n";
// if(candidateKF)
// delete candidateKF; // Delete previous candidateKF
// candidateKF = frame360;
// candidateKF_connection.first = trackedPosePbMap;
// candidateKF_connection.second = registerer.getInfoMat();
// candidateKF_sso = registerer.getAreaMatched() / registerer.areaSource;
// }
// { boost::mutex::scoped_lock updateLockVisualizer(Viewer.visualizationMutex);
// Viewer.currentLocation.matrix() = (currentPose * trackedPosePbMap);
// Viewer.bDrawCurrentLocation = true;
// }
// bPrevKFSelected = false;
// lastTrackedKF = 0;
// }
// continue; // Eval next frame
// }
if(bGoodTracking && registerer.getMatchedPlanes().size() >= 6 && registerer.getAreaMatched() > 12)
{
delete frame360;
rigidTransf_dense_ref = rotOffset * trackedPosePbMap * rotOffset.inverse();
{ boost::mutex::scoped_lock updateLockVisualizer(Viewer.visualizationMutex);
Viewer.currentLocation.matrix() = (currentPose * rigidTransf_dense);
Viewer.bDrawCurrentLocation = true;
}
cout << " skip frame PbMap " << endl;
continue;
}
cout << "Align Spheres " << frame360->id << " and " << Map.vpSpheres[nearestKF]->id << endl;
double time_start_dense = pcl::getTime();
align360.setTargetFrame(Map.vpSpheres[nearestKF]->sphereRGB, Map.vpSpheres[nearestKF]->sphereDepth);
align360.setSourceFrame(frame360->sphereRGB, frame360->sphereDepth);
// rigidTransf_dense_ref = rotOffset * registerer.getPose() * rotOffset.inverse();
align360.alignFrames360(rigidTransf_dense_ref, RegisterPhotoICP::PHOTO_DEPTH); // PHOTO_CONSISTENCY / DEPTH_CONSISTENCY / PHOTO_DEPTH Matrix4f relPoseDense = registerer.getPose();
Eigen::Matrix4f rigidTransf_dense_ref_prev = rigidTransf_dense_ref;
rigidTransf_dense_ref = align360.getOptimalPose();
rigidTransf_dense = rotOffset.inverse() * rigidTransf_dense_ref * rotOffset;
double time_end_dense = pcl::getTime();
//std::cout << "Dense " << (time_end_dense - time_start_dense) << std::endl;
double depth_residual = align360.avDepthResidual;
cout << " Residuals: " << align360.avPhotoResidual << " " << align360.avDepthResidual;
//cout << " regist \n" << rigidTransf_dense << endl;
{ boost::mutex::scoped_lock updateLockVisualizer(Viewer.visualizationMutex);
Viewer.currentLocation.matrix() = (currentPose * rigidTransf_dense);
Viewer.bDrawCurrentLocation = true;
}
if(align360.avDepthResidual < selectKF_ICPdist && isOdometryContinuousMotion(rigidTransf_dense_ref_prev, rigidTransf_dense_ref, 0.2))
{
// assert(align360.avDepthResidual < 1.5);
delete frame360;
// bPrevKFSelected = false;
cout << " skip frame " << endl;
continue;
}
// The last frame is a candidate for a KF
candidateKF = frame360;
candidateKF_connection.first = rigidTransf_dense;
candidateKF_connection.second = align360.getHessian();
candidateKF_sso = align360.SSO;
// Check registration with nearby keyframes
vector<connection> vConnections;
unsigned kf;
for( kf=0; kf < Map.vpSpheres.size(); kf++)
// if(Map.vpSpheres[kf]->node == Map.currentArea && kf != nearestKF) // || Map.vsAreas[Map.currentArea].count(kf))
if((Map.vpSpheres[kf]->node == Map.currentArea || isInNeighbourSubmap(Map.currentArea,kf)) && kf != nearestKF)
{
Eigen::Matrix4f relativePose = Map.vpSpheres[kf]->pose.inverse() * currentPose * rigidTransf_dense;
if(relativePose.block(0,3,3,1).norm() < thresholdConnections) // If the KFs are closeby
{
// std::cout << "Check loop closure between " << kf << " the current frame " << "\n";
// bool bGoodRegistration = registerer.RegisterPbMap(Map.vpSpheres[kf], frame360, 25, RegisterRGBD360::RegisterRGBD360::PLANAR_3DoF);
// if(bGoodRegistration && registerer.getMatchedPlanes().size() > 5 && registerer.getAreaMatched() > 15.0)
{
// std::cout << "Loop closed between " << newFrameID << " and " << compareLocalIdx << " matchedArea " << registerer.getAreaMatched() << std::endl;
// Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic> informationMatrix = registerer.getAreaMatched() * registerer.getInfoMat().cast<double>();
// relativePose = registerer.getPose();
// Eigen::Matrix4f initRigidTransfDense = rotOffset * relativePose * rotOffset.inverse();
align360.setTargetFrame(Map.vpSpheres[kf]->sphereRGB, Map.vpSpheres[kf]->sphereDepth);
align360.setSourceFrame(frame360->sphereRGB, frame360->sphereDepth);
Eigen::Matrix4f initRigidTransfDense = rotOffset * relativePose * rotOffset.inverse();
align360.alignFrames360(initRigidTransfDense, RegisterPhotoICP::PHOTO_DEPTH); // PHOTO_CONSISTENCY / DEPTH_CONSISTENCY / PHOTO_DEPTH Matrix4f relPoseDense = registerer.getPose();
rigidTransf_dense_ref_prev = rigidTransf_dense_ref;
rigidTransf_dense_ref = align360.getOptimalPose();
if(isOdometryContinuousMotion(rigidTransf_dense_ref_prev, rigidTransf_dense_ref, 0.2))
continue;
Eigen::Matrix4f rigidTransf_denseKF = rotOffset.inverse() * rigidTransf_dense_ref * rotOffset;
cout << "CHECK WITH " << kf << " nearestKF " << nearestKF << " avDepthResidual " << align360.avDepthResidual << " sso " << align360.SSO << endl;
// cout << "dist " << (Map.vpSpheres[kf]->pose.block(0,3,3,1)-frame360->pose.block(0,3,3,1)).norm() << " " << (initRigidTransfDense.block(0,3,3,1)).norm() << endl;
if(align360.avDepthResidual < selectKF_ICPdist)
break;
else if(align360.avDepthResidual < 1.8) // Keep connection
{
connection Connection;
Connection.KF_id = kf;
Connection.geomConnection = pair<Eigen::Matrix4f, Eigen::Matrix<float,6,6> >(rigidTransf_denseKF, align360.getHessian());
Connection.sso = align360.SSO;
vConnections.push_back(Connection);
}
//else
{
//std::cout << "Check loop closure between " << kf << " the current frame " << "\n";
bool bGoodRegistration = registerer.RegisterPbMap(Map.vpSpheres[kf], frame360, 25, RegisterRGBD360::RegisterRGBD360::PLANAR_3DoF);
if(bGoodRegistration && registerer.getMatchedPlanes().size() > 5 && registerer.getAreaMatched() > 25.0)
{
connection Connection;
Connection.KF_id = kf;
Connection.geomConnection = pair<Eigen::Matrix4f, Eigen::Matrix<float,6,6> >(registerer.getPose(), registerer.getAreaMatched() * registerer.getInfoMat());
Connection.sso = align360.SSO;
vConnections.push_back(Connection);
}
}
}
}
}
if(align360.avDepthResidual < selectKF_ICPdist)
{
cout << "\t align360.avDepthResidual " << align360.avDepthResidual << " " << selectKF_ICPdist << " " << kf << endl;
if(align360.avDepthResidual < depth_residual)
{
currentPose = Map.vpSpheres[kf]->pose;
nearestKF = kf;
Viewer.currentSphere = nearestKF;
cout << "\t nearestKF " << nearestKF << endl;
}
delete frame360;
cout << "skip frame 2 " << endl;
continue;
}
cout << "SSO " << align360.SSO << endl;
cout << "Select keyframe " << frame360->id << endl;
cout << "Information \n" << candidateKF_connection.second << endl;
rigidTransf_dense_ref = Eigen::Matrix4f::Identity();
++lastTrackedKF;
// if(bPrevKFSelected) // If the previous frame was a keyframe, just try to register the next frame as usually
// {
// std::cout << "Tracking lost " << lastTrackedKF << "\n";
// // bGoodTracking = true; // Read a new frame in the next iteration
// bPrevKFSelected = false;
// continue;
// }
// if(lastTrackedKF > 3)
// {
// std::cout << "\n Launch Relocalization \n";
// double time_start = pcl::getTime();
// if(relocalizer.relocalize(frame360) != -1)
// {
// double time_end = pcl::getTime();
// std::cout << "Relocalization in " << Map.vpSpheres.size() << " KFs map took " << double (time_end - time_start) << std::endl;
// lastTrackedKF = 0;
// candidateKF = frame360;
// candidateKF_connection.first = relocalizer.registerer.getPose();
// candidateKF_connection.second = relocalizer.registerer.getInfoMat();
// nearestKF = relocalizer.relocKF;
// currentPose = Map.vTrajectoryPoses[nearestKF]; //Map.vOptimizedPoses
// Viewer.currentSphere = nearestKF;
// std::cout << "Relocalized with " << nearestKF << " \n\n\n";
// continue;
// }
// }
// if(!candidateKF)
// {
// std::cout << "_Tracking lost " << lastTrackedKF << "\n";
// continue;
// }
// if( !shouldSelectKeyframe(candidateKF, candidateKF_connection, frame360) )
// {
// cout << " Do not add a keyframe yet. Now the camera is around KF " << nearestKF << endl;
// candidateKF = NULL;
// currentPose = Map.vTrajectoryPoses[nearestKF]; //Map.vOptimizedPoses
// Viewer.currentSphere = nearestKF;
// frame -= selectSample;
// fileName = path + mrpt::format("/sphere_images_%d.bin",frame);
// // lastTrackedKF = 0;
// // bGoodTracking = true; // Read a new frame in the next iteration
// // bPrevKFSelected = true; // This avoids selecting a KF for which there is no registration
// continue;
// }
//
// bPrevKFSelected = true;
// frame -= selectSample;
// fileName = path + mrpt::format("/sphere_images_%d.bin",frame);
currentPose = currentPose * candidateKF_connection.first;
std::cout<< "Added vertex: "<< optimizer.addVertex(currentPose.cast<double>()) << std::endl;
std::cout<< "Added addEdge:" << nearestKF << " " << Map.vpSpheres.size() << "\n" << candidateKF_connection.first.cast<double>() << "\n";
optimizer.addEdge(nearestKF, Map.vpSpheres.size(), candidateKF_connection.first.cast<double>(), candidateKF_connection.second.cast<double>());
std::cout<< " Edge PbMap: " << bGoodTracking << " " << registerer.getMatchedPlanes().size() << " " << registerer.getAreaMatched() << " " << diffRotation(trackedPosePbMap, rigidTransf_dense) << " " << difTranslation(trackedPosePbMap, rigidTransf_dense) << "\n";
if(bGoodTracking && registerer.getMatchedPlanes().size() >= 4 && registerer.getAreaMatched() > 6)
if(diffRotation(trackedPosePbMap, rigidTransf_dense) < 5 && difTranslation(trackedPosePbMap, rigidTransf_dense) < 0.1) // If the difference is less than 5º and 10 cm, add the PbMap connection
{
optimizer.addEdge(nearestKF, Map.vpSpheres.size(), trackedPosePbMap.cast<double>(), registerer.getInfoMat().cast<double>());
std::cout<< "Added addEdge PbMap\n";
std::cout<< "Edge PbMap\n" << registerer.getInfoMat() << endl;
std::cout<< "Edge Dense" << candidateKF_connection.second << endl;
}
Map.vTrajectoryIncrements.push_back(Map.vTrajectoryIncrements.back() + candidateKF_connection.first.block(0,3,3,1).norm());
// Filter cloud
filter.filterEuclidean(candidateKF->sphereCloud);
std::cout<< "filterEuclidean:\n";
cout << "\tGet previous frame as a keyframe " << frameOrder+1 << " dist " << candidateKF_connection.first.norm() << " candidateKF_sso " << candidateKF_sso << endl;
// Add new keyframe
candidateKF->id = ++frameOrder;
candidateKF->node = Map.currentArea;
// Update topologicalMap
int newLocalFrameID = Map.vsAreas[Map.currentArea].size();
topologicalMap.addKeyframe(Map.currentArea);
std::cout<< "newSizeLocalSSO "<< newLocalFrameID+1 << std::endl;
// int newSizeLocalSSO = newLocalFrameID+1;
// topologicalMap.vSSO[Map.currentArea].setSize(newSizeLocalSSO,newSizeLocalSSO);
// topologicalMap.vSSO[Map.currentArea](newLocalFrameID,newLocalFrameID) = 0.0;
// // Re-adjust size of adjacency matrices
// for(set<unsigned>::iterator it=Map.vsNeighborAreas[Map.currentArea].begin(); it != Map.vsNeighborAreas[Map.currentArea].end(); it++)
// {
// assert(*it != Map.currentArea);
// if(*it < Map.currentArea)
// {
// cout << " sizeSSO neig " << topologicalMap.mmNeigSSO[*it][Map.currentArea].getRowCount() << endl;
// topologicalMap.mmNeigSSO[*it][Map.currentArea].setSize(5, newSizeLocalSSO);
// }
// else
// {
// topologicalMap.mmNeigSSO[Map.currentArea][*it].setSize(newSizeLocalSSO, topologicalMap.mmNeigSSO[*it][Map.currentArea].getRowCount());
// }
// }
// Track the current position. TODO: (detect inconsistencies)
int compareLocalIdx = newLocalFrameID-1;
std::cout<< "compareLocalIdx "<< compareLocalIdx << std::endl;
// Lock map to add a new keyframe
{boost::mutex::scoped_lock updateLock(Map.mapMutex);
Map.addKeyframe(candidateKF, currentPose);
//Map.vOptimizedPoses.push_back( Map.vOptimizedPoses[nearestKF] * candidateKF_connection.first );
std::cout << "\t mmConnectionKFs loop " << frameOrder << " " << nearestKF << " \n";
Map.mmConnectionKFs[frameOrder] = std::map<unsigned, std::pair<Eigen::Matrix4f, Eigen::Matrix<float,6,6> > >();
Map.mmConnectionKFs[frameOrder][nearestKF] = std::pair<Eigen::Matrix4f, Eigen::Matrix<float,6,6> >(candidateKF_connection.first, candidateKF_connection.second);
Map.vsAreas[Map.currentArea].insert(frameOrder);
}
// Update candidateKF
cout << "Update candidateKF " << endl;
candidateKF = NULL;
nearestKF = frameOrder;
Viewer.currentSphere = nearestKF;
// Viewer.bFreezeFrame = false;
cout << "Add tracking SSO " << endl;
if((topologicalMap.vSSO[Map.currentArea].getRowCount() <= newLocalFrameID) && (topologicalMap.vSSO[Map.currentArea].getRowCount() <= compareLocalIdx))
cout << "\n\n\t ERROR vSSO\n";
topologicalMap.vSSO[Map.currentArea](newLocalFrameID,compareLocalIdx) =
topologicalMap.vSSO[Map.currentArea](compareLocalIdx,newLocalFrameID) = candidateKF_sso;
cout << "SSO is " << topologicalMap.vSSO[Map.currentArea](newLocalFrameID,compareLocalIdx) << endl;
// Add for Map.mmConnectionKFs in the previous frames.
if(vConnections.size() > 0)// && frameOrder !=3 && frameOrder !=4)
{
bHasNewLC = true;
cout << "Add vConnections " << vConnections.size() << endl;
for(unsigned link=0; link < vConnections.size(); link++)
{
// cout << "Add vConnections between " << frameOrder << " " << vConnections[link].KF_id << "\n";
// cout << vConnections[link].KF_id << " sso " << vConnections[link].sso << "\n";
Map.mmConnectionKFs[frameOrder][vConnections[link].KF_id] = vConnections[link].geomConnection;
// cout << "Add vConnections_ A\n";
topologicalMap.addConnection(unsigned(frameOrder), vConnections[link].KF_id, vConnections[link].sso);
// cout << "Add vConnections_ B\n";
optimizer.addEdge(vConnections[link].KF_id, unsigned(frameOrder), vConnections[link].geomConnection.first.cast<double>(), vConnections[link].geomConnection.second.cast<double>());
// cout << "frameOrder " << frameOrder << " " << Map.vpSpheres.size() << endl;
}
}
// // Calculate distance of furthest registration (approximated, we do not know if the last frame compared is actually the furthest)
// std::map<unsigned, pair<unsigned,Eigen::Matrix4f> >::iterator itFurthest = Map.mmConnectionKFs[frameOrder].begin(); // Aproximated
// cout << "Furthest distance is " << itFurthest->second.second.block(0,3,3,1).norm() << " diffFrameNum " << newLocalFrameID - itFurthest->first << endl;
// // Synchronize topologicalMap with loopCloser
// while( !loopCloser.connectionsLC.empty() )
// {
// std::map<unsigned, std::map<unsigned, float> >::iterator it_connectLC1 = loopCloser.connectionsLC.begin();
// while( !it_connectLC1->second.empty() )
// {
// std::map<unsigned, float>::iterator it_connectLC2 = it_connectLC1->second.begin();
// if(Map.vpSpheres[it_connectLC1->first]->node != Map.currentArea || Map.vpSpheres[it_connectLC2->first]->node != Map.currentArea)
// {
// loopCloser.connectionsLC.erase(it_connectLC1);
// continue;
// }
// int localID1 = std::distance(Map.vsAreas[Map.currentArea].begin(), Map.vsAreas[Map.currentArea].find(it_connectLC1->first));
// int localID2 = std::distance(Map.vsAreas[Map.currentArea].begin(), Map.vsAreas[Map.currentArea].find(it_connectLC2->first));
// cout << "Add LC SSO " << topologicalMap.vSSO[Map.currentArea].getRowCount() << " " << localID1 << " " << localID2 << endl;
// topologicalMap.vSSO[Map.currentArea](localID1,localID2) = topologicalMap.vSSO[Map.currentArea](localID2,localID1) =
// it_connectLC2->second;
// it_connectLC1->second.erase(it_connectLC2);
// }
// loopCloser.connectionsLC.erase(it_connectLC1);
// }
// Optimize graphSLAM with g2o
if(bHasNewLC)
{
std::cout << "Optimize graph SLAM \n";
double time_start = pcl::getTime();
//Optimize the graph
// for(int j=0; j < Map.vpSpheres.size(); j++)
// {
//// std::cout << "optimizedPose " << poseIdx << " submap " << Map.vpSpheres[j]->node << " same? " << Map.vOptimizedPoses[j]==Map.vTrajectoryPoses[j] ? 1 : 0 << std::endl;
// g2o::OptimizableGraph::Vertex *vertex_j = optimizer.optimizer.vertex(j);
// if(Map.vpSpheres[j]->node == Map.currentArea && j != Map.vSelectedKFs[Map.currentArea])
// vertex_j->setFixed(false);
// else
// vertex_j->setFixed(true);
// }
//VertexContainer vertices = optimizer.activeVertices.activeVertices();
optimizer.optimizeGraph();
double time_end = pcl::getTime();
std::cout << " Optimize graph SLAM " << Map.vpSpheres.size() << " took " << double (time_end - time_start) << " s.\n";
// for(int j=0; j < Map.vpSpheres.size(); j++)
// std::cout << "optimizedPose " << j << endl << Map.vOptimizedPoses[j] << endl;
//Update the optimized poses (for loopClosure detection & visualization)
{
boost::mutex::scoped_lock updateLock(Map.mapMutex);
optimizer.getPoses(Map.vOptimizedPoses);
//Viewer.currentLocation.matrix() = Map.vOptimizedPoses.back();
}
// for(int j=0; j < Map.vpSpheres.size(); j++)
// std::cout << "optimizedPose " << j << endl << Map.vOptimizedPoses[j] << endl;
//Update the optimized pose
//Eigen::Matrix4f &newPose = Map.vOptimizedPoses.back();
// std::cout << "First pose optimized \n" << Map.vOptimizedPoses[0] << std::endl;
// assert(Map.vpSpheres.size() == Map.vOptimizedPoses.size());
for(int j=0; j < Map.vpSpheres.size(); j++)
std::cout << "optimizedPose " << j << " " << optimizer.optimizer.vertex(j)->fixed() << " submap " << Map.vpSpheres[j]->node << std::endl; //<< " same? " << Map.vOptimizedPoses[j]==Map.vTrajectoryPoses[j] ? 1 : 0 << std::endl;
// std::cout << "newPose \n" << Map.vOptimizedPoses.back() << "\n previous \n" << currentPose << std::endl;
currentPose = Map.vOptimizedPoses.back();
bHasNewLC = false;
}
// Visibility divission (Normalized-cut)
if(newLocalFrameID % 4 == 0)
{
// for(unsigned i=0; i < Map.vTrajectoryPoses.size(); i++)
// cout << "pose " << i << "\n" << Map.vTrajectoryPoses[i] << endl;
double time_start = pcl::getTime();
// cout << "Eval partitions\n";
topologicalMap.Partitioner();
// // Set only the current submap's keyframes as optimizable vertex in Graph-SLAM
// for(int j=0; j < Map.vpSpheres.size(); j++)
// {
//// std::cout << "optimizedPose " << poseIdx << " submap " << Map.vpSpheres[j]->node << " same? " << Map.vOptimizedPoses[j]==Map.vTrajectoryPoses[j] ? 1 : 0 << std::endl;
// g2o::OptimizableGraph::Vertex *vertex_j = optimizer.optimizer.vertex(j);
// if(Map.vpSpheres[j]->node == Map.currentArea && j != Map.vSelectedKFs[Map.currentArea])
// vertex_j->setFixed(false);
// else
// vertex_j->setFixed(true);
// }
// for(unsigned i=0; i < Map.vTrajectoryPoses.size(); i++)
// cout << "pose " << i << "\n" << Map.vTrajectoryPoses[i] << endl;
cout << "\tPlaces\n";
for( unsigned node = 0; node < Map.vsNeighborAreas.size(); node++ )
{
cout << "\t" << node << ":";
for( set<unsigned>::iterator it = Map.vsNeighborAreas[node].begin(); it != Map.vsNeighborAreas[node].end(); it++ )
cout << " " << *it;
cout << endl;
}
double time_end = pcl::getTime();
std::cout << " Eval partitions took " << double (time_end - time_start)*10e3 << "ms" << std::endl;
}
//if(Map.vsNeighborAreas.size() > 1)
//mrpt::system::pause();
// Viewer.bFreezeFrame = false;
}
// while (!Viewer.viewer.wasStopped() )
// boost::this_thread::sleep (boost::posix_time::milliseconds (10));
cout << "Path length " << Map.vTrajectoryIncrements.back() << endl;
}
// This function decides to select a new keyframe when the proposed keyframe does not have keyframes too near/related
bool shouldSelectKeyframe(Frame360 *candidateKF, std::pair<Eigen::Matrix4f, Eigen::Matrix<float,6,6> > candidateKF_connection, Frame360* currentFrame)
{
cout << "shouldSelectKeyframe ...\n";
double time_start = pcl::getTime();
RegisterPhotoICP align360; // Dense RGB-D alignment
align360.setNumPyr(5);
align360.useSaliency(false);
align360.setVisualization(true);
align360.setGrayVariance(3.f/255);
// The reference of the spherical image and the point Clouds are not the same! I should always use the same coordinate system (TODO)
float angleOffset = 157.5;
Eigen::Matrix4f rotOffset = Eigen::Matrix4f::Identity(); rotOffset(1,1) = rotOffset(2,2) = cos(angleOffset*PI/180); rotOffset(1,2) = sin(angleOffset*PI/180); rotOffset(2,1) = -rotOffset(1,2);
cout << "Align Sphere " << endl;
double time_start_dense = pcl::getTime();
align360.setTargetFrame(Map.vpSpheres[nearestKF]->sphereRGB, Map.vpSpheres[nearestKF]->sphereDepth);
align360.setSourceFrame(candidateKF->sphereRGB, candidateKF->sphereDepth);
// align360.alignFrames360(Eigen::Matrix4f::Identity(), RegisterPhotoICP::PHOTO_CONSISTENCY); // PHOTO_CONSISTENCY / DEPTH_CONSISTENCY / PHOTO_DEPTH Matrix4f relPoseDense = registerer.getPose();
align360.alignFrames360(rotOffset * candidateKF_connection.first * rotOffset.inverse(), RegisterPhotoICP::PHOTO_DEPTH); // PHOTO_CONSISTENCY / DEPTH_CONSISTENCY / PHOTO_DEPTH Matrix4f relPoseDense = registerer.getPose();
Eigen::Matrix4f rigidTransf_dense = rotOffset.inverse() * align360.getOptimalPose() * rotOffset;
double time_end_dense = pcl::getTime();
std::cout << "Dense " << (time_end_dense - time_start_dense) << std::endl;
cout << "Dense regist \n" << rigidTransf_dense << " \nRegist-PbMap \n" << candidateKF_connection.first << endl;
// math::mrpt::CPose3D
if(!rigidTransf_dense.isApprox(candidateKF_connection.first,1e-1))
{
std::cout << "shouldSelectKeyframe INVALID KF\n";
return false;
}
else
{
candidateKF_connection.first = rigidTransf_dense;
}
double dist_candidateKF = candidateKF_connection.first.block(0,3,3,1).norm();
Eigen::Matrix4f candidateKF_pose = Map.vTrajectoryPoses[nearestKF] * candidateKF_connection.first;
map<float,unsigned> nearest_KFs;
for(std::set<unsigned>::iterator itKF = Map.vsAreas[Map.currentArea].begin(); itKF != Map.vsAreas[Map.currentArea].end(); itKF++) // Set the iterator to the previous KFs not matched yet
{
if(*itKF == nearestKF)
continue;
double dist_to_prev_KF = (candidateKF_pose.block(0,3,3,1) - Map.vTrajectoryPoses[*itKF].block(0,3,3,1)).norm();
cout << *itKF << " dist_to_prev_KF " << dist_to_prev_KF << " dist_candidateKF " << dist_candidateKF << endl;
if( dist_to_prev_KF < dist_candidateKF ) // Check if there are even nearer keyframes
nearest_KFs[dist_to_prev_KF] = *itKF;
}
for(map<float,unsigned>::iterator itNearKF = nearest_KFs.begin(); itNearKF != nearest_KFs.end(); itNearKF++) // Set the iterator to the previous KFs not matched yet
{
cout << "itNearKF " << itNearKF->first << " " << itNearKF->second << endl;
bool bGoodRegistration = registerer.RegisterPbMap(Map.vpSpheres[itNearKF->second], candidateKF, MAX_MATCH_PLANES, RegisterRGBD360::PLANAR_3DoF);
if(bGoodRegistration && registerer.getMatchedPlanes().size() >= min_planes_registration && registerer.getAreaMatched() > 6 )
{
nearestKF = itNearKF->second;
double time_end = pcl::getTime();
std::cout << "shouldSelectKeyframe INVALID KF. took " << double (time_end - time_start) << std::endl;
return false;
}
}
double time_end = pcl::getTime();
std::cout << "shouldSelectKeyframe VALID KF. took " << double (time_end - time_start) << std::endl;
// cout << "shouldSelectKeyframe VALID KF\n";
return true;
}
void getTestDataFromBag(PointCloudPtr cloud_source, PointCloudPtr cloud_target,
PointCloudPtr featureCloudSource, std::vector<int> &indicesSource,
PointCloudPtr featureCloudTarget, std::vector<int> &indicesTarget,
Eigen::Matrix4f &initialTransform, int rosMessageNumber)
{
sensor_msgs::PointCloud2::Ptr cloud_source_filtered (new sensor_msgs::PointCloud2 ());
sensor_msgs::PointCloud2::Ptr cloud_target_filtered (new sensor_msgs::PointCloud2 ());
PointCloudPtr cloud_ransac_estimation (new PointCloud);
pcl::PCDWriter writer;
std::stringstream filename;
rosbag::Bag bag;
bag.open("/media/burg/data/bagfiles/bench1-ManySweeps4-lowfeatureThresNode2.bag", rosbag::bagmode::Read);
std::vector<std::string> topics;
topics.push_back(std::string("/feature_match_out_topic"));
rosbag::View view(bag, rosbag::TopicQuery(topics));
int i = 1;
BOOST_FOREACH(rosbag::MessageInstance const m, view)
{
if(( i == rosMessageNumber) || (rosMessageNumber==0))
{
pcl_tutorial::featureMatch::ConstPtr fm = m.instantiate<pcl_tutorial::featureMatch>();
ROS_INFO("Converting point cloud message to local pcl clouds");
sensor_msgs::PointCloud2::Ptr cloud_source_temp_Ptr (new sensor_msgs::PointCloud2 (fm->sourcePointcloud));
sensor_msgs::PointCloud2::Ptr cloud_target_temp_Ptr (new sensor_msgs::PointCloud2 (fm->targetPointcloud));
voxFilterPointCloud(cloud_source_temp_Ptr, cloud_source_filtered);
voxFilterPointCloud(cloud_target_temp_Ptr, cloud_target_filtered);
ROS_INFO("Converting dense clouds");
pcl::fromROSMsg(*cloud_source_filtered, *cloud_source);
pcl::fromROSMsg(*cloud_target_filtered, *cloud_target);
ROS_INFO("Converting sparse clouds");
pcl::fromROSMsg(fm->sourceFeatureLocations, *featureCloudSource);
pcl::fromROSMsg(fm->targetFeatureLocations, *featureCloudTarget);
ROS_INFO("Converting geometry message to eigen4f");
tf::Transform trans;
tf::transformMsgToTF(fm->featureTransform,trans);
initialTransform = EigenfromTf(trans);
ROS_INFO_STREAM("transform from ransac: " << "\n" << initialTransform << "\n");
ROS_INFO("Extracting corresponding indices");
//int j = 1;
indicesSource.clear();
indicesTarget.clear();
for(std::vector<pcl_tutorial::match>::const_iterator iterator_ = fm->matches.begin(); iterator_ != fm->matches.end(); ++iterator_)
{
indicesSource.push_back(iterator_->trainId);
indicesTarget.push_back(iterator_->queryId);
// ROS_INFO_STREAM("source point " << j << ": " << featureCloudSource->points[iterator_->queryId].x << ", " << featureCloudSource->points[iterator_->queryId].y << ", " << featureCloudSource->points[iterator_->queryId].z);
// ROS_INFO_STREAM("target point " << j++ << ": " << featureCloudTarget->points[iterator_->trainId].x << ", " << featureCloudTarget->points[iterator_->trainId].y << ", " << featureCloudTarget->points[iterator_->trainId].z);
// ROS_INFO("qidx: %d tidx: %d iidx: %d dist: %f", iterator_->queryId, iterator_->trainId, iterator_->imgId, iterator_->distance);
}
/*for (size_t cloudId = 0; cloudId < featureCloudSource->points.size (); ++cloudId)
{
ROS_INFO_STREAM("feature cloud: " << cloudId << ": " << featureCloudSource->points[cloudId].x << "; " << featureCloudSource->points[cloudId].y << "; " << featureCloudSource->points[cloudId].z);
}*/
Eigen::Matrix4f ransacInverse = initialTransform.inverse();
transformPointCloud (*cloud_source, *cloud_ransac_estimation, ransacInverse);
ROS_INFO("Writing point clouds");
filename << "cloud" << i << "DenseSource.pcd";
writer.write (filename.str(), *cloud_source, false);
filename.str("");
filename << "cloud" << i << "DenseTarget.pcd";
writer.write (filename.str(), *cloud_target, true);
filename.str("");
filename << "cloud" << i << "RANSAC-" << (int)indicesSource.size() << "-inliers.pcd";
writer.write (filename.str(), *cloud_ransac_estimation, true);
filename.str("");
filename << "cloud" << i << "SparseSource.pcd";
writer.write (filename.str(), *featureCloudSource, false);
filename.str("");
filename << "cloud" << i << "SparseTarget.pcd";
writer.write (filename.str(), *featureCloudTarget, false);
filename.str("");
i++;
// for(std::vector<int>::iterator iterator_ = indicesSource.begin(); iterator_ != indicesSource.end(); ++iterator_) {
// ROS_INFO("source indice: %d", *iterator_);
// }
}
else
i++;
}
bag.close();
}
Transform Transform::inverse() const
{
Eigen::Matrix4f m = util3d::transformToEigen4f(*this);
return util3d::transformFromEigen4f(m.inverse());
}
/** \brief Align a pair of PointCloud datasets and return the result
* \param cloud_src the source PointCloud
* \param cloud_tgt the target PointCloud
* \param output the resultant aligned source PointCloud
* \param final_transform the resultant transform between source and target
*/
void pairAlign (const PointCloud::Ptr cloud_src, const PointCloud::Ptr cloud_tgt, PointCloud::Ptr output, Eigen::Matrix4f &final_transform, bool downsample = false)
{
//
// Downsample for consistency and speed
// \note enable this for large datasets
PointCloud::Ptr src (new PointCloud);
PointCloud::Ptr tgt (new PointCloud);
pcl::VoxelGrid<PointT> grid;
if (downsample)
{
grid.setLeafSize (0.05, 0.05, 0.05);
grid.setInputCloud (cloud_src);
grid.filter (*src);
grid.setInputCloud (cloud_tgt);
grid.filter (*tgt);
}
else
{
src = cloud_src;
tgt = cloud_tgt;
}
// Compute surface normals and curvature
PointCloudWithNormals::Ptr points_with_normals_src (new PointCloudWithNormals);
PointCloudWithNormals::Ptr points_with_normals_tgt (new PointCloudWithNormals);
pcl::NormalEstimation<PointT, PointNormalT> norm_est;
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ> ());
norm_est.setSearchMethod (tree);
norm_est.setKSearch (30);
norm_est.setInputCloud (src);
norm_est.compute (*points_with_normals_src);
pcl::copyPointCloud (*src, *points_with_normals_src);
norm_est.setInputCloud (tgt);
norm_est.compute (*points_with_normals_tgt);
pcl::copyPointCloud (*tgt, *points_with_normals_tgt);
//
// Instantiate our custom point representation (defined above) ...
MyPointRepresentation point_representation;
// ... and weight the 'curvature' dimension so that it is balanced against x, y, and z
float alpha[4] = {1.0, 1.0, 1.0, 1.0};
point_representation.setRescaleValues (alpha);
//
// Align
pcl::IterativeClosestPointNonLinear<PointNormalT, PointNormalT> reg;
reg.setTransformationEpsilon (1e-6);
// Set the maximum distance between two correspondences (src<->tgt) to 10cm
// Note: adjust this based on the size of your datasets
reg.setMaxCorrespondenceDistance (0.1);
// Set the point representation
reg.setPointRepresentation (boost::make_shared<const MyPointRepresentation> (point_representation));
reg.setInputSource (points_with_normals_src);
reg.setInputTarget (points_with_normals_tgt);
//
// Run the same optimization in a loop and visualize the results
Eigen::Matrix4f Ti = Eigen::Matrix4f::Identity (), prev, targetToSource;
PointCloudWithNormals::Ptr reg_result = points_with_normals_src;
reg.setMaximumIterations (2);
for (int i = 0; i < 30; ++i)
{
PCL_INFO ("Iteration Nr. %d.\n", i);
// save cloud for visualization purpose
points_with_normals_src = reg_result;
// Estimate
reg.setInputSource (points_with_normals_src);
reg.align (*reg_result);
//accumulate transformation between each Iteration
Ti = reg.getFinalTransformation () * Ti;
//if the difference between this transformation and the previous one
//is smaller than the threshold, refine the process by reducing
//the maximal correspondence distance
if (fabs ((reg.getLastIncrementalTransformation () - prev).sum ()) < reg.getTransformationEpsilon ())
reg.setMaxCorrespondenceDistance (reg.getMaxCorrespondenceDistance () - 0.001);
prev = reg.getLastIncrementalTransformation ();
// visualize current state
showCloudsRight(points_with_normals_tgt, points_with_normals_src);
}
//
// Get the transformation from target to source
targetToSource = Ti.inverse();
//
// Transform target back in source frame
pcl::transformPointCloud (*cloud_tgt, *output, targetToSource);
p->removePointCloud ("source");
p->removePointCloud ("target");
PointCloudColorHandlerCustom<PointT> cloud_tgt_h (output, 0, 255, 0);
PointCloudColorHandlerCustom<PointT> cloud_src_h (cloud_src, 255, 0, 0);
p->addPointCloud (output, cloud_tgt_h, "target", vp_2);
p->addPointCloud (cloud_src, cloud_src_h, "source", vp_2);
PCL_INFO ("Press q to continue the registration.\n");
p->spin ();
p->removePointCloud ("source");
p->removePointCloud ("target");
//add the source to the transformed target
*output += *cloud_src;
final_transform = targetToSource;
}
Transformation * UpdateWeightFilterv3::filterTransformation(Transformation * input){
struct timeval start, end;
gettimeofday(&start, NULL);
RGBDFrame * src = input->src;
RGBDFrame * dst = input->dst;
FrameInput * src_fi = src->input;
FrameInput * dst_fi = dst->input;
Transformation * transformation = input->clone();
/*
Transformation * transformation = new Transformation();
transformation->transformationMatrix = input->transformationMatrix;
transformation->src = src;
transformation->dst = dst;
transformation->weight = input->weight;//0;
for(int i = 0; i < input->matches.size();i++){
KeyPoint * src_kp = input->matches.at(i).first;
KeyPoint * dst_kp = input->matches.at(i).second;
transformation->matches.push_back(make_pair(src_kp, dst_kp));
}
*/
Eigen::Matrix4f transformationMat = input->transformationMatrix;
Eigen::Matrix4f transformationMat_inv = transformationMat.inverse();
float counter_good = 0;
float counter_bad = 0;
float counter_total = 0;
float d1[dst->validation_points.size()];
int nr_valid = 0;
src_fi->getDiff(transformationMat_inv , dst->validation_points , d1, nr_valid );
for(int i = 0; i < nr_valid; i++){
float diff = d1[i];
if(fabs(diff) < limit) {counter_good++;}
counter_total++;
}
float d2[src->validation_points.size()];
nr_valid = 0;
dst_fi->getDiff(transformationMat , src->validation_points , d2, nr_valid );
for(int i = 0; i < nr_valid; i++){
float diff = d2[i];
if(fabs(diff) < limit) {counter_good++;}
counter_total++;
}
if(counter_total < min_points){counter_total = min_points;}
transformation->weight = 10 + (counter_good-bad_weight*counter_bad)/counter_total;
//printf("input w: %f update weight results: %f %f %f-> %f\n",input->weight,counter_good,counter_bad,counter_total,transformation->weight);
gettimeofday(&end, NULL);
float time = (end.tv_sec*1000000+end.tv_usec-(start.tv_sec*1000000+start.tv_usec))/1000000.0f;
//printf("UpdateWeightFilterv3 cost: %f\n",time);
return transformation;
}
