forked from avsegal/gicp
-
Notifications
You must be signed in to change notification settings - Fork 0
/
gicp.cpp
484 lines (418 loc) · 12.9 KB
/
gicp.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
/*************************************************************
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 "gicp.h"
#include "optimize.h"
#include <gsl/gsl_linalg.h>
#include <gsl/gsl_blas.h>
#include <fstream>
#include <iostream> //TODO: remove
#include <sstream>
#include <pthread.h>
using namespace std;//TODO: remove
namespace dgc {
namespace gicp {
GICPPointSet::GICPPointSet()
{
kdtree_points_ = NULL;
kdtree_ = NULL;
max_iteration_ = 200; // default value
max_iteration_inner_ = 20; // default value for inner loop
epsilon_ = 5e-4; // correspondes to ~1 mm (tolerence for convergence of GICP outer loop)
epsilon_rot_ = 2e-3;
//gicp_epsilon_ = .0004; // epsilon constant for gicp paper; this is NOT the convergence tolerence
gicp_epsilon_ = .0004; // epsilon constant for gicp paper; this is NOT the convergence tolerence
debug_ = false;
solve_rotation_ = true;
matrices_done_ = false;
kdtree_done_ = false;
pthread_mutex_init(&mutex_, NULL);
}
GICPPointSet::~GICPPointSet()
{
if (kdtree_ != NULL)
delete kdtree_;
if (kdtree_points_ != NULL)
annDeallocPts(kdtree_points_);
}
void GICPPointSet::Clear(void) {
pthread_mutex_lock(&mutex_);
matrices_done_ = false;
kdtree_done_ = false;
if (kdtree_ != NULL) {
delete kdtree_;
kdtree_ = NULL;
}
if (kdtree_points_ != NULL) {
annDeallocPts(kdtree_points_);
kdtree_points_ = NULL;
}
point_.clear();
pthread_mutex_unlock(&mutex_);
}
void GICPPointSet::BuildKDTree(void)
{
pthread_mutex_lock(&mutex_);
if(kdtree_done_) {
return;
}
kdtree_done_ = true;
pthread_mutex_unlock(&mutex_);
int i, n = NumPoints();
if(n == 0) {
return;
}
kdtree_points_ = annAllocPts(n, 3);
for(i = 0; i < n; i++) {
kdtree_points_[i][0] = point_[i].x;
kdtree_points_[i][1] = point_[i].y;
kdtree_points_[i][2] = point_[i].z;
}
kdtree_ = new ANNkd_tree(kdtree_points_, n, 3, 10);
}
void GICPPointSet::ComputeMatrices() {
pthread_mutex_lock(&mutex_);
if(kdtree_ == NULL) {
return;
}
if(matrices_done_) {
return;
}
matrices_done_ = true;
pthread_mutex_unlock(&mutex_);
int N = NumPoints();
int K = 20; // number of closest points to use for local covariance estimate
double mean[3];
ANNpoint query_point = annAllocPt(3);
ANNdist *nn_dist_sq = new ANNdist[K];
if(nn_dist_sq == NULL) {
//TODO: handle this
}
ANNidx *nn_indecies = new ANNidx[K];
if(nn_indecies == NULL) {
//TODO: handle this
}
gsl_vector *work = gsl_vector_alloc(3);
if(work == NULL) {
//TODO: handle
}
gsl_vector *gsl_singulars = gsl_vector_alloc(3);
if(gsl_singulars == NULL) {
//TODO: handle
}
gsl_matrix *gsl_v_mat = gsl_matrix_alloc(3, 3);
if(gsl_v_mat == NULL) {
//TODO: handle
}
for(int i = 0; i < N; i++) {
query_point[0] = point_[i].x;
query_point[1] = point_[i].y;
query_point[2] = point_[i].z;
gicp_mat_t &cov = point_[i].C;
// zero out the cov and mean
for(int k = 0; k < 3; k++) {
mean[k] = 0.;
for(int l = 0; l < 3; l++) {
cov[k][l] = 0.;
}
}
kdtree_->annkSearch(query_point, K, nn_indecies, nn_dist_sq, 0.0);
// find the covariance matrix
for(int j = 0; j < K; j++) {
GICPPoint &pt = point_[nn_indecies[j]];
mean[0] += pt.x;
mean[1] += pt.y;
mean[2] += pt.z;
cov[0][0] += pt.x*pt.x;
cov[1][0] += pt.y*pt.x;
cov[1][1] += pt.y*pt.y;
cov[2][0] += pt.z*pt.x;
cov[2][1] += pt.z*pt.y;
cov[2][2] += pt.z*pt.z;
}
mean[0] /= (double)K;
mean[1] /= (double)K;
mean[2] /= (double)K;
// get the actual covariance
for(int k = 0; k < 3; k++) {
for(int l = 0; l <= k; l++) {
cov[k][l] /= (double)K;
cov[k][l] -= mean[k]*mean[l];
cov[l][k] = cov[k][l];
}
}
// compute the SVD
gsl_matrix_view gsl_cov = gsl_matrix_view_array(&cov[0][0], 3, 3);
gsl_linalg_SV_decomp(&gsl_cov.matrix, gsl_v_mat, gsl_singulars, work);
// zero out the cov matrix, since we know U = V since C is symmetric
for(int k = 0; k < 3; k++) {
for(int l = 0; l < 3; l++) {
cov[k][l] = 0;
}
}
// reconstitute the covariance matrix with modified singular values using the column vectors in V.
for(int k = 0; k < 3; k++) {
gsl_vector_view col = gsl_matrix_column(gsl_v_mat, k);
double v = 1.; // biggest 2 singular values replaced by 1
if(k == 2) { // smallest singular value replaced by gicp_epsilon
v = gicp_epsilon_;
}
gsl_blas_dger(v, &col.vector, &col.vector, &gsl_cov.matrix);
}
}
if(nn_dist_sq != NULL) {
delete [] nn_dist_sq;
}
if(nn_indecies != NULL) {
delete [] nn_indecies;
}
if(work != NULL) {
gsl_vector_free(work);
}
if(gsl_v_mat != NULL) {
gsl_matrix_free(gsl_v_mat);
}
if(gsl_singulars != NULL) {
gsl_vector_free(gsl_singulars);
}
query_point;
}
int GICPPointSet::AlignScan(GICPPointSet *scan, dgc_transform_t base_t, dgc_transform_t t, double max_match_dist, bool save_error_plot)
{
double max_d_sq = pow(max_match_dist, 2);
int num_matches = 0;
int n = scan->NumPoints();
double delta = 0.;
dgc_transform_t t_last;
ofstream fout_corresp;
ANNdist nn_dist_sq;
ANNidx *nn_indecies = new ANNidx[n];
ANNpoint query_point = annAllocPt(3);
if(nn_indecies == NULL) {
//TODO: fail here
}
gicp_mat_t *mahalanobis = new gicp_mat_t[n];
if(mahalanobis == NULL) {
//TODO: fail here
}
gsl_matrix *gsl_R = gsl_matrix_alloc(3, 3);
if(gsl_R == NULL) {
//TODO: fail here
}
gsl_matrix *gsl_temp = gsl_matrix_alloc(3, 3);
if(gsl_temp == NULL) {
//TODO: fail here
}
bool converged = false;
int iteration = 0;
bool opt_status = false;
/* set up the optimization parameters */
GICPOptData opt_data;
opt_data.nn_indecies = nn_indecies;
opt_data.p1 = scan;
opt_data.p2 = this;
opt_data.M = mahalanobis;
opt_data.solve_rotation = solve_rotation_;
dgc_transform_copy(opt_data.base_t, base_t);
GICPOptimizer opt;
opt.SetDebug(debug_);
opt.SetMaxIterations(max_iteration_inner_);
/* set up the mahalanobis matricies */
/* these are identity for now to ease debugging */
for(int i = 0; i < n; i++) {
for(int k = 0; k < 3; k++) {
for(int l = 0; l < 3; l++) {
mahalanobis[i][k][l] = (k == l)?1:0.;
}
}
}
if(debug_) {
dgc_transform_write(base_t, "t_base.tfm");
dgc_transform_write(t, "t_0.tfm");
}
while(!converged) {
dgc_transform_t transform_R;
dgc_transform_copy(transform_R, base_t);
dgc_transform_left_multiply(transform_R, t);
// copy the rotation component of the current total transformation (including base), into a gsl matrix
for(int i = 0; i < 3; i++) {
for(int j = 0; j < 3; j++) {
gsl_matrix_set(gsl_R, i, j, transform_R[i][j]);
}
}
if(debug_) {
fout_corresp.open("correspondence.txt");
}
/* find correpondences */
num_matches = 0;
for (int i = 0; i < n; i++) {
query_point[0] = scan->point_[i].x;
query_point[1] = scan->point_[i].y;
query_point[2] = scan->point_[i].z;
dgc_transform_point(&query_point[0], &query_point[1],
&query_point[2], base_t);
dgc_transform_point(&query_point[0], &query_point[1],
&query_point[2], t);
kdtree_->annkSearch(query_point, 1, &nn_indecies[i], &nn_dist_sq, 0.0);
if (nn_dist_sq < max_d_sq) {
if(debug_) {
fout_corresp << i << "\t" << nn_indecies[i] << endl;
}
// set up the updated mahalanobis matrix here
gsl_matrix_view C1 = gsl_matrix_view_array(&scan->point_[i].C[0][0], 3, 3);
gsl_matrix_view C2 = gsl_matrix_view_array(&point_[nn_indecies[i]].C[0][0], 3, 3);
gsl_matrix_view M = gsl_matrix_view_array(&mahalanobis[i][0][0], 3, 3);
gsl_matrix_set_zero(&M.matrix);
gsl_matrix_set_zero(gsl_temp);
// M = R*C1 // using M as a temp variable here
gsl_blas_dgemm(CblasNoTrans, CblasNoTrans, 1., gsl_R, &C1.matrix, 1., &M.matrix);
// temp = M*R' // move the temp value to 'temp' here
gsl_blas_dgemm(CblasNoTrans, CblasTrans, 1., &M.matrix, gsl_R, 0., gsl_temp);
// temp += C2
gsl_matrix_add(gsl_temp, &C2.matrix);
// at this point temp = C2 + R*C1*R'
// now invert temp to get the mahalanobis distance metric for gicp
// M = temp^-1
gsl_matrix_set_identity(&M.matrix);
gsl_linalg_cholesky_decomp(gsl_temp);
for(int k = 0; k < 3; k++) {
gsl_vector_view row_view = gsl_matrix_row(&M.matrix, k);
gsl_linalg_cholesky_svx(gsl_temp, &row_view.vector);
}
num_matches++;
}
else {
nn_indecies[i] = -1; // no match
}
}
if(debug_) { // save the current M matrices to file for debugging
ofstream out("mahalanobis.txt");
if(out) {
for(int i = 0; i < n; i++) {
for(int k = 0; k < 3; k++) {
for(int l = 0; l < 3; l++) {
out << mahalanobis[i][k][l] << "\t";
}
}
out << endl;
}
}
out.close();
}
if(debug_) {
fout_corresp.close();
}
opt_data.num_matches = num_matches;
/* optimize transformation using the current assignment and Mahalanobis metrics*/
dgc_transform_copy(t_last, t);
opt_status = opt.Optimize(t, opt_data);
if(debug_) {
cout << "Optimizer converged in " << opt.Iterations() << " iterations." << endl;
cout << "Status: " << opt.Status() << endl;
std::ostringstream filename;
filename << "t_" << iteration+1 << ".tfm";
dgc_transform_write(t, filename.str().c_str());
}
/* compute the delta from this iteration */
delta = 0.;
for(int k = 0; k < 4; k++) {
for(int l = 0; l < 4; l++) {
double ratio = 1;
if(k < 3 && l < 3) { // rotation part of the transform
ratio = 1./epsilon_rot_;
}
else {
ratio = 1./epsilon_;
}
double c_delta = ratio*fabs(t_last[k][l] - t[k][l]);
if(c_delta > delta) {
delta = c_delta;
}
}
}
if(debug_) {
cout << "delta = " << delta << endl;
}
/* check convergence */
iteration++;
if(iteration >= max_iteration_ || delta < 1) {
converged = true;
}
}
if(debug_) {
cout << "Converged in " << iteration << " iterations." << endl;
if(save_error_plot) {
opt.PlotError(t, opt_data, "error_func");
}
}
if(nn_indecies != NULL) {
delete [] nn_indecies;
}
if(mahalanobis != NULL) {
delete [] mahalanobis;
}
if(gsl_R != NULL) {
gsl_matrix_free(gsl_R);
}
if(gsl_temp != NULL) {
gsl_matrix_free(gsl_temp);
}
annDeallocPt(query_point);
return iteration;
}
void GICPPointSet::SavePoints(const char *filename) {
ofstream out(filename);
if(out) {
int n = NumPoints();
for(int i = 0; i < n; i++) {
out << point_[i].x << "\t" << point_[i].y << "\t" << point_[i].z << endl;
}
}
out.close();
}
void GICPPointSet::SaveMatrices(const char *filename) {
ofstream out(filename);
if(out) {
int n = NumPoints();
for(int i = 0; i < n; i++) {
for(int k = 0; k < 3; k++) {
for(int l = 0; l < 3; l++) {
out << point_[i].C[k][l] << "\t";
}
}
out << endl;
}
}
out.close();
}
}
}