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ccRegistrationTools.cpp
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ccRegistrationTools.cpp
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//##########################################################################
//# #
//# CLOUDCOMPARE #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 or later of the License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI) #
//# #
//##########################################################################
#include "ccRegistrationTools.h"
//CCCoreLib
#include <CloudSamplingTools.h>
#include <DistanceComputationTools.h>
#include <Garbage.h>
#include <GenericIndexedCloudPersist.h>
#include <MeshSamplingTools.h>
#include <ParallelSort.h>
#include <PointCloud.h>
#include <RegistrationTools.h>
//qCC_db
#include <ccGenericMesh.h>
#include <ccHObjectCaster.h>
#include <ccLog.h>
#include <ccPointCloud.h>
#include <ccProgressDialog.h>
#include <ccScalarField.h>
//system
#include <set>
//! Default number of points sampled on the 'data' mesh (if any)
static const unsigned s_defaultSampledPointsOnDataMesh = 50000;
//! Default temporary registration scalar field
static const char REGISTRATION_DISTS_SF[] = "RegistrationDistances";
bool ccRegistrationTools::ICP( ccHObject* data,
ccHObject* model,
ccGLMatrix& transMat,
double& finalScale,
double& finalRMS,
unsigned& finalPointCount,
const CCCoreLib::ICPRegistrationTools::Parameters& inputParameters,
bool useDataSFAsWeights/*=false*/,
bool useModelSFAsWeights/*=false*/,
QWidget* parent/*=nullptr*/)
{
bool restoreColorState = false;
bool restoreSFState = false;
CCCoreLib::ICPRegistrationTools::Parameters params = inputParameters;
//progress bar
QScopedPointer<ccProgressDialog> progressDlg;
if (parent)
{
progressDlg.reset(new ccProgressDialog(false, parent));
}
CCCoreLib::Garbage<CCCoreLib::GenericIndexedCloudPersist> cloudGarbage;
//if the 'model' entity is a mesh, we need to sample points on it
CCCoreLib::GenericIndexedCloudPersist* modelCloud = nullptr;
ccGenericMesh* modelMesh = nullptr;
if (model->isKindOf(CC_TYPES::MESH))
{
modelMesh = ccHObjectCaster::ToGenericMesh(model);
modelCloud = modelMesh->getAssociatedCloud();
}
else
{
modelCloud = ccHObjectCaster::ToGenericPointCloud(model);
}
//if the 'data' entity is a mesh, we need to sample points on it
CCCoreLib::GenericIndexedCloudPersist* dataCloud = nullptr;
if (data->isKindOf(CC_TYPES::MESH))
{
dataCloud = CCCoreLib::MeshSamplingTools::samplePointsOnMesh(ccHObjectCaster::ToGenericMesh(data), s_defaultSampledPointsOnDataMesh, progressDlg.data());
if (!dataCloud)
{
ccLog::Error("[ICP] Failed to sample points on 'data' mesh!");
return false;
}
cloudGarbage.add(dataCloud);
}
else
{
dataCloud = ccHObjectCaster::ToGenericPointCloud(data);
}
//we activate a temporary scalar field for registration distances computation
CCCoreLib::ScalarField* dataDisplayedSF = nullptr;
int oldDataSfIdx = -1;
int dataSfIdx = -1;
//if the 'data' entity is a real ccPointCloud, we can even create a proper temporary SF for registration distances
if (data->isA(CC_TYPES::POINT_CLOUD))
{
ccPointCloud* pc = static_cast<ccPointCloud*>(data);
restoreColorState = pc->colorsShown();
restoreSFState = pc->sfShown();
dataDisplayedSF = pc->getCurrentDisplayedScalarField();
oldDataSfIdx = pc->getCurrentInScalarFieldIndex();
dataSfIdx = pc->getScalarFieldIndexByName(REGISTRATION_DISTS_SF);
if (dataSfIdx < 0)
dataSfIdx = pc->addScalarField(REGISTRATION_DISTS_SF);
if (dataSfIdx >= 0)
pc->setCurrentScalarField(dataSfIdx);
else
{
ccLog::Error("[ICP] Couldn't create temporary scalar field! Not enough memory?");
return false;
}
}
else
{
if (!dataCloud->enableScalarField())
{
ccLog::Error("[ICP] Couldn't create temporary scalar field! Not enough memory?");
return false;
}
}
//add a 'safety' margin to input ratio
static double s_overlapMarginRatio = 0.2;
params.finalOverlapRatio = std::max(params.finalOverlapRatio, 0.01); //1% minimum
//do we need to reduce the input point cloud (so as to be close
//to the theoretical number of overlapping points - but not too
//low so as we are not registered yet ;)
if (params.finalOverlapRatio < 1.0 - s_overlapMarginRatio)
{
//DGM we can now use 'approximate' distances as SAITO algorithm is exact (but with a coarse resolution)
//level = 7 if < 1.000.000
//level = 8 if < 10.000.000
//level = 9 if > 10.000.000
int gridLevel = static_cast<int>(log10(static_cast<double>(std::max(dataCloud->size(), modelCloud->size())))) + 2; //static_cast is equivalent to floor if value >= 0
gridLevel = std::min(std::max(gridLevel, 7), 9);
int result = -1;
if (modelMesh)
{
CCCoreLib::DistanceComputationTools::Cloud2MeshDistancesComputationParams c2mParams;
c2mParams.octreeLevel = gridLevel;
c2mParams.maxSearchDist = 0;
c2mParams.useDistanceMap = true;
c2mParams.signedDistances = false;
c2mParams.flipNormals = false;
c2mParams.multiThread = false;
c2mParams.robust = true;
result = CCCoreLib::DistanceComputationTools::computeCloud2MeshDistances( dataCloud,
modelMesh,
c2mParams,
progressDlg.data());
}
else
{
result = CCCoreLib::DistanceComputationTools::computeApproxCloud2CloudDistance( dataCloud,
modelCloud,
gridLevel,
-1,
progressDlg.data());
}
if (result < 0)
{
ccLog::Error("Failed to determine the max (overlap) distance (not enough memory?)");
return false;
}
//determine the max distance that (roughly) corresponds to the input overlap ratio
ScalarType maxSearchDist = 0;
{
unsigned count = dataCloud->size();
std::vector<ScalarType> distances;
try
{
distances.resize(count);
}
catch (const std::bad_alloc&)
{
ccLog::Error("Not enough memory!");
return false;
}
for (unsigned i = 0; i < count; ++i)
{
distances[i] = dataCloud->getPointScalarValue(i);
}
ParallelSort(distances.begin(), distances.end());
//now look for the max value at 'finalOverlapRatio + margin' percent
maxSearchDist = distances[static_cast<size_t>(std::max(1.0, count*(params.finalOverlapRatio + s_overlapMarginRatio))) - 1];
}
//evntually select the points with distance below 'maxSearchDist'
//(should roughly correspond to 'finalOverlapRatio + margin' percent)
{
CCCoreLib::ReferenceCloud* refCloud = new CCCoreLib::ReferenceCloud(dataCloud);
cloudGarbage.add(refCloud);
unsigned countBefore = dataCloud->size();
unsigned baseIncrement = static_cast<unsigned>(std::max(100.0, countBefore*params.finalOverlapRatio*0.05));
for (unsigned i = 0; i < countBefore; ++i)
{
if (dataCloud->getPointScalarValue(i) <= maxSearchDist)
{
if ( refCloud->size() == refCloud->capacity()
&& !refCloud->reserve(refCloud->size() + baseIncrement) )
{
ccLog::Error("Not enough memory!");
return false;
}
refCloud->addPointIndex(i);
}
}
refCloud->resize(refCloud->size());
dataCloud = refCloud;
unsigned countAfter = dataCloud->size();
double keptRatio = static_cast<double>(countAfter)/countBefore;
ccLog::Print(QString("[ICP][Partial overlap] Selecting %1 points out of %2 (%3%) for registration").arg(countAfter).arg(countBefore).arg(static_cast<int>(100*keptRatio)));
//update the relative 'final overlap' ratio
params.finalOverlapRatio /= keptRatio;
}
}
//weights
params.modelWeights = nullptr;
params.dataWeights = nullptr;
{
if (!modelMesh && useModelSFAsWeights)
{
if (modelCloud == dynamic_cast<CCCoreLib::GenericIndexedCloudPersist*>(model) && model->isA(CC_TYPES::POINT_CLOUD))
{
ccPointCloud* pc = static_cast<ccPointCloud*>(model);
params.modelWeights = pc->getCurrentDisplayedScalarField();
if (!params.modelWeights)
ccLog::Warning("[ICP] 'useDataSFAsWeights' is true but model has no displayed scalar field!");
}
else
{
ccLog::Warning("[ICP] 'useDataSFAsWeights' is true but only point cloud scalar fields can be used as weights!");
}
}
if (useDataSFAsWeights)
{
if (!dataDisplayedSF)
{
if (dataCloud == ccHObjectCaster::ToPointCloud(data))
ccLog::Warning("[ICP] 'useDataSFAsWeights' is true but data has no displayed scalar field!");
else
ccLog::Warning("[ICP] 'useDataSFAsWeights' is true but only point cloud scalar fields can be used as weights!");
}
else
{
params.dataWeights = dataDisplayedSF;
}
}
}
ccLog::Print(QString("[ICP] Will use %1 threads").arg(params.maxThreadCount));
CCCoreLib::ICPRegistrationTools::RESULT_TYPE result;
CCCoreLib::PointProjectionTools::Transformation transform;
result = CCCoreLib::ICPRegistrationTools::Register( modelCloud,
modelMesh,
dataCloud,
params,
transform,
finalRMS,
finalPointCount,
static_cast<CCCoreLib::GenericProgressCallback*>(progressDlg.data()));
if (result >= CCCoreLib::ICPRegistrationTools::ICP_ERROR)
{
ccLog::Error("Registration failed: an error occurred (code %i)",result);
}
else if (result == CCCoreLib::ICPRegistrationTools::ICP_APPLY_TRANSFO)
{
transMat = FromCCLibMatrix<double, float>(transform.R, transform.T, transform.s);
finalScale = transform.s;
}
//remove temporary SF (if any)
if (dataSfIdx >= 0)
{
assert(data->isA(CC_TYPES::POINT_CLOUD));
ccPointCloud* pc = static_cast<ccPointCloud*>(data);
pc->setCurrentScalarField(oldDataSfIdx);
pc->deleteScalarField(dataSfIdx);
pc->showColors(restoreColorState);
pc->showSF(restoreSFState);
}
return (result < CCCoreLib::ICPRegistrationTools::ICP_ERROR);
}