root / rgbdslam / src / gicp-fallback.cpp @ master
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1 | 9240aaa3 | Alex | /* This file is part of RGBDSLAM.
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2 | *
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3 | * RGBDSLAM is free software: you can redistribute it and/or modify
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4 | * it under the terms of the GNU General Public License as published by
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5 | * the Free Software Foundation, either version 3 of the License, or
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6 | * (at your option) any later version.
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7 | *
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8 | * RGBDSLAM is distributed in the hope that it will be useful,
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9 | * but WITHOUT ANY WARRANTY; without even the implied warranty of
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10 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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11 | * GNU General Public License for more details.
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12 | *
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13 | * You should have received a copy of the GNU General Public License
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14 | * along with RGBDSLAM. If not, see <http://www.gnu.org/licenses/>.
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15 | */
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16 | |||
17 | |||
18 | /*
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19 | * gicp.cpp
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20 | *
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21 | * Created on: Jan 23, 2011
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22 | * Author: engelhar
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23 | */
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24 | |||
25 | #include "gicp-fallback.h" |
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26 | |||
27 | #include <fstream> |
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28 | #include <sstream> |
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29 | #include <iostream> |
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30 | #include <pcl/filters/voxel_grid.h> |
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31 | using namespace std; |
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32 | |||
33 | void saveCloud(const char* filename, const PointCloud_RGB& pc, const int max_cnt, const bool color){ |
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34 | |||
35 | ofstream of; |
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36 | of.open(filename); |
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37 | assert(of.is_open()); |
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38 | |||
39 | |||
40 | int write_step = 1; |
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41 | if (max_cnt>0 && (int)pc.points.size()>max_cnt) |
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42 | write_step = floor(pc.points.size()*1.0/max_cnt); |
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43 | |||
44 | int cnt = 0; |
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45 | assert(write_step > 0);
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46 | |||
47 | |||
48 | // only write every write_step.th points
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49 | for (unsigned int i=0; i<pc.points.size(); i += write_step) |
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50 | { |
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51 | Point p = pc.points[i]; |
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52 | |||
53 | bool invalid = (isnan(p.x) || isnan(p.y) || isnan(p.z));
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54 | if (invalid)
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55 | continue;
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56 | |||
57 | |||
58 | of << p.x << "\t" << p.y << "\t" << p.z; |
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59 | if (color) {
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60 | |||
61 | int color = *reinterpret_cast<const int*>(&p.rgb); |
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62 | int r = (0xff0000 & color) >> 16; |
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63 | int g = (0x00ff00 & color) >> 8; |
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64 | int b = 0x0000ff & color; |
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65 | of << "\t \t" << r << "\t" << g << "\t" << b << "\t" << endl; |
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66 | } |
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67 | else
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68 | of << endl; |
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69 | // cout << p.x << "\t" << p.y << "\t" << p.z << endl;
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70 | |||
71 | cnt++; |
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72 | } |
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73 | |||
74 | |||
75 | // ROS_INFO("gicp.cpp: saved %i pts (of %i) to %s", cnt,(int) pc.points.size(), filename);
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76 | // printf("gicp.cpp: saved %i pts (of %i) to %s \n", cnt,(int) pc.points.size(), filename);
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77 | |||
78 | of.close(); |
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79 | |||
80 | } |
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81 | |||
82 | |||
83 | void downSample(const PointCloud_RGB& src, PointCloud_RGB& to){ |
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84 | pcl::VoxelGrid<Point> down_sampler; |
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85 | down_sampler.setLeafSize (0.01, 0.01, 0.01); |
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86 | pcl::PCLBase<Point>::PointCloudConstPtr const_cloud_ptr = boost::make_shared<PointCloud_RGB> (src); |
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87 | down_sampler.setInputCloud (const_cloud_ptr); |
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88 | down_sampler.filter(to); |
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89 | ROS_INFO("gicp.cpp: Downsampling from %i to %i", (int) src.points.size(), (int) to.points.size()); |
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90 | } |
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91 | |||
92 | |||
93 | |||
94 | bool gicpfallback(const PointCloud_RGB& from, const PointCloud_RGB& to, Eigen::Matrix4f& transform){ |
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95 | |||
96 | // std::clock_t starttime_gicp = std::clock();
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97 | |||
98 | FILE *fp; |
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99 | char f1[200]; |
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100 | char f2[200]; |
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101 | |||
102 | char line[130]; |
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103 | char cmd[200]; |
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104 | |||
105 | sprintf(f1, "pc1.txt");
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106 | sprintf(f2, "pc2.txt");
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107 | |||
108 | // default values for algo work well on this data
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109 | sprintf(cmd, "./gicp/test_gicp %s %s --d_max 0.01 --debug 0",f1,f2);
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110 | |||
111 | int N = 40000; |
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112 | |||
113 | saveCloud(f1,from,N); |
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114 | saveCloud(f2,to,N); |
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115 | |||
116 | // cout << "time for writing: " << ((std::clock()-starttime_gicp*1.0) / (double)CLOCKS_PER_SEC) << endl;
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117 | // std::clock_t starttime_gicp2 = std::clock();
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118 | |||
119 | /*
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120 | ICP is calculated by external program. It writes some intermediate results
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121 | and the final homography on stdout, which is parsed here.
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122 | Not very beautiful, but works :)
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123 | */
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124 | fp = popen(cmd, "r");
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125 | |||
126 | std::vector<string> lines;
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127 | |||
128 | // collect all output
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129 | while ( fgets( line, sizeof line, fp)) |
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130 | { |
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131 | lines.push_back(line); |
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132 | // ROS_INFO("gicp.cpp: %s", line);
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133 | } |
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134 | int retval = pclose(fp);
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135 | // cout << "time for binary: " << ((std::clock()-starttime_gicp2*1.0) / (double)CLOCKS_PER_SEC) << endl;
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136 | |||
137 | // std::clock_t starttime_gicp3 = std::clock();
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138 | |||
139 | if(retval != 0){ |
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140 | ROS_ERROR_ONCE("Non-zero return value from %s: %i. Identity transformation is returned instead of GICP result.\nThis error will be reported only once.", cmd, retval);
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141 | transform = Eigen::Matrix<float, 4, 4>::Identity(); |
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142 | return false; |
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143 | } |
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144 | |||
145 | int pos = 0; |
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146 | // last lines contain the transformation:
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147 | for (unsigned int i=lines.size()-5; i<lines.size()-1; i++){ |
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148 | |||
149 | stringstream ss(lines.at(i)); |
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150 | for (int j=0; j<4; j++) |
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151 | { |
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152 | ss >> line; |
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153 | transform(pos,j) = atof(line); |
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154 | } |
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155 | // cout << endl;
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156 | pos++; |
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157 | } |
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158 | |||
159 | // read the number of iterations:
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160 | stringstream ss(lines.at(lines.size()-1));
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161 | ss >> line; // Converged in
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162 | ss >> line; |
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163 | ss >> line; |
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164 | |||
165 | int iter_cnt;
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166 | iter_cnt = atoi(line); |
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167 | |||
168 | return iter_cnt < 200; // check test_gicp for maximal allowed number of iterations |
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169 | |||
170 | // ROS_INFO_STREAM("Parsed: Converged in " << iter_cnt << "iterations");
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171 | |||
172 | |||
173 | // ROS_DEBUG_STREAM("Matrix read from ICP process: " << transform);
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174 | // ROS_INFO_STREAM("Paper: time for icp1 (internal): " << ((std::clock()-starttime_gicp*1.0) / (double)CLOCKS_PER_SEC));
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175 | } |