Quadrotor

/*************************************************************

  Generalized-ICP Copyright (c) 2009 Aleksandr Segal.

  All rights reserved.

  Redistribution and use in source and binary forms, with 

  or without modification, are permitted provided that the 

  following conditions are met:

* Redistributions of source code must retain the above 

  copyright notice, this list of conditions and the 

  following disclaimer.

* Redistributions in binary form must reproduce the above

  copyright notice, this list of conditions and the 

  following disclaimer in the documentation and/or other

  materials provided with the distribution.

* The names of the contributors may not be used to endorse

  or promote products derived from this software

  without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND

  CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED

  WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A

  PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 

  INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 

  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 

  PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,

  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 

  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 

  OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH

  DAMAGE.

*************************************************************/

#include <iostream>

#include <fstream>

#include <string>

#include <sstream>

// program options

#include <boost/program_options.hpp>

#include <boost/filesystem/path.hpp>

#include <boost/filesystem/fstream.hpp>

#include <boost/tokenizer.hpp> 

#include "gicp.h"

using namespace std;

using namespace dgc::gicp;

namespace po = boost::program_options;

static string filename1;

static string filename2;

static string filename_t_base;

static bool debug = true;

static double gicp_epsilon = 1e-3;

static double max_distance = 0.1; // in m

void print_usage(const char* program_name, po::options_description const& desc) {

  cout << program_name << " [options] scan1 scan2 [t_base]" << endl;

  cout << desc << endl;  

}

bool parse_options(int argc, char** argv) {

  bool error = false;

  po::options_description desc("Allowed options");

  desc.add_options()

    ("help", "print help message")

    ("scan1", po::value<string>(), "scan1 filename")

    ("scan2", po::value<string>(), "scan2 filename")

    ("t_base", po::value<string>(), "base transform filename")

    ("debug", po::value<bool>(), "enable debug mode")

    ("epsilon", po::value<double>(), "G-ICP epsilon constant")

    ("d_max", po::value<double>(), "maximum distance for matching points");

  po::positional_options_description p;

  p.add("scan1", 1);

  p.add("scan2", 1);

  p.add("t_base", 1);

  po::variables_map vm;

  try {    

    po::store(po::command_line_parser(argc, argv).options(desc).positional(p).run(), vm);

    po::notify(vm);

  }

  catch(const std::exception &e) {

    cout << "Error: " << e.what() << endl;

    print_usage(argv[0], desc);

    error = true;

    return error;

  }

  if(vm.count("help")) {

    print_usage(argv[0], desc);

    error = true;

    return error;

  }

  if(!vm.count("scan1")) {

    cout << "Error: scan1 filename not specified!" << endl;

    error = true;

  }

  else {

    filename1 = vm["scan1"].as<string>();

  }

  if(!vm.count("scan2")) {

    cout << "Error: scan2 filename not specified!" << endl;

    error = true;

  }

  else {

    filename2 = vm["scan2"].as<string>();

  }

  if(error) {

    print_usage(argv[0], desc);

  }

  if(vm.count("debug")) {

    debug = vm["debug"].as<bool>();

  }

  if(vm.count("epsilon")) {

    gicp_epsilon = vm["epsilon"].as<double>();

  }

  if(vm.count("d_max")) {

    max_distance = vm["d_max"].as<double>();

  } 

  if(vm.count("t_base")) {

    filename_t_base = vm["t_base"].as<string>();

  }

  return error;

}

bool load_points(GICPPointSet *set, const char* filename) {

  bool error = false;

  ifstream in(filename);

  if(!in) {

    cout << "Could not open '" << filename << "'." << endl;

    return true;

  }

  string line;

  GICPPoint pt;

  pt.range = -1;

  for(int k = 0; k < 3; k++) {

    for(int l = 0; l < 3; l++) {

      pt.C[k][l] = (k == l)?1:0;

    }

  }    

  while(getline(in, line)) {

    istringstream sin(line);

    sin >> pt.x >> pt.y >> pt.z;    

    set->AppendPoint(pt);    

  }

  in.close();

  return false;  

};

int main(int argc, char** argv) {

  // cout << "Test program for the gicp library." << endl;

  bool error = parse_options(argc, argv);

  if(error) {

    return 1;

  }

  GICPPointSet p1, p2;

  dgc_transform_t t_base, t0, t1;

  // set up the transformations

  dgc_transform_identity(t_base);

  dgc_transform_identity(t0);

  dgc_transform_identity(t1);

  // read base transform from file if one is specified

  if(!filename_t_base.empty()) {

    int status = dgc_transform_read(t_base, filename_t_base.c_str());

    if(status != 0) {

      return 1;

    }

  }

  // read points clouds

  cout << "Setting up pointclouds..." << endl;

  error = load_points(&p1, filename1.c_str());

  if(error) {

    return 1;

  }

  cout << "Loaded " << p1.Size() << " points into GICPPointSet 1." << endl;

  error = load_points(&p2, filename2.c_str());

  if(error) {

    return 1;

  }

  cout << "Loaded " << p2.Size() << " points into GICPPointSet 2." << endl;  

  // build kdtrees and normal matrices

  cout << "Building KDTree and computing surface normals/matrices..." << endl;

  cout << "gicp_epsilon: " << gicp_epsilon << endl;

  cout << "max dist: " << max_distance << endl;

  p1.SetGICPEpsilon(gicp_epsilon);

  p2.SetGICPEpsilon(gicp_epsilon);  

  p1.BuildKDTree();

  p1.ComputeMatrices();

  p2.BuildKDTree();

  p2.ComputeMatrices();

  if(debug) {

    // save data for debug/visualizations

    p1.SavePoints("pts1.dat");

    p1.SaveMatrices("mats1.dat");

    p2.SavePoints("pts2.dat");

    p2.SaveMatrices("mats2.dat");

  }

  // align the point clouds

  cout << "Aligning point cloud..." << endl;

  dgc_transform_copy(t1, t0);

  p2.SetDebug(debug);

  p2.SetMaxIterationInner(8);

  p2.SetMaxIteration(200);

  int iterations = p2.AlignScan(&p1, t_base, t1, max_distance);

  // print the result

  cout << "Converged: " << endl;

  dgc_transform_print(t_base, "t_base");

  dgc_transform_print(t0, "t0");  

  dgc_transform_print(t1, "t1");

  cout << "Converged in " << iterations << " iterations." << endl;

  if(debug) {

    ofstream fout("iterations.txt");

    if(!fout) {

      return 0;

    }

    fout << "Converged in " << iterations << " iterations." << endl;

    fout.close();

  }

  return 0;

}