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Implemented an in-place method for transforming DataPoints objects #419

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Dec 1, 2020
Merged

Implemented an in-place method for transforming DataPoints objects #419

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87c7dc4
Implemented an in-place method for transforming DataPoints objects
YoshuaNava Nov 19, 2020
2f6065a
Fix typo
YoshuaNava Nov 19, 2020
7c35308
Optimized descriptor rotations
YoshuaNava Nov 19, 2020
a85d15e
Merge branch 'master' into feature/transformations_inplace_compute
pomerlef Dec 1, 2020
3e65d06
Implemented unit tests, added sim transformation to registry, set new…
YoshuaNava Dec 1, 2020
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3 changes: 3 additions & 0 deletions pointmatcher/PointMatcher.h
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Original file line number Diff line number Diff line change
Expand Up @@ -410,6 +410,9 @@ struct PointMatcher
//! Transform input using the transformation matrix
virtual DataPoints compute(const DataPoints& input, const TransformationParameters& parameters) const = 0;

//! Transform point cloud in-place using the transformation matrix
virtual void inPlaceCompute(const TransformationParameters& parameters, DataPoints& cloud) const = 0;

//! Return whether the given parameters respect the expected constraints
virtual bool checkParameters(const TransformationParameters& parameters) const = 0;

Expand Down
88 changes: 52 additions & 36 deletions pointmatcher/TransformationsImpl.cpp
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Expand Up @@ -51,7 +51,18 @@ typename PointMatcher<T>::DataPoints TransformationsImpl<T>::RigidTransformation
const DataPoints& input,
const TransformationParameters& parameters) const
{
assert(input.features.rows() == parameters.rows());
DataPoints transformedCloud = input;
inPlaceCompute(parameters, transformedCloud);
return transformedCloud;
}

//! RigidTransformation
template<typename T>
void TransformationsImpl<T>::RigidTransformation::inPlaceCompute(
const TransformationParameters& parameters,
DataPoints& cloud) const
{
assert(cloud.features.rows() == parameters.rows());
assert(parameters.rows() == parameters.cols());

const unsigned int nbRows = parameters.rows()-1;
Expand All @@ -62,28 +73,23 @@ typename PointMatcher<T>::DataPoints TransformationsImpl<T>::RigidTransformation
if(this->checkParameters(parameters) == false)
throw TransformationError("RigidTransformation: Error, rotation matrix is not orthogonal.");

//DataPoints transformedCloud(input.featureLabels, input.descriptorLabels, input.timeLabels, input.features.cols());
DataPoints transformedCloud = input;

// Apply the transformation to features
transformedCloud.features = parameters * input.features;
cloud.features.applyOnTheLeft(parameters);

// Apply the transformation to descriptors
int row(0);
const int descCols(input.descriptors.cols());
for (size_t i = 0; i < input.descriptorLabels.size(); ++i)
const int descCols(cloud.descriptors.cols());
for (size_t i = 0; i < cloud.descriptorLabels.size(); ++i)
{
const int span(input.descriptorLabels[i].span);
const std::string& name(input.descriptorLabels[i].text);
const BOOST_AUTO(inputDesc, input.descriptors.block(row, 0, span, descCols));
BOOST_AUTO(outputDesc, transformedCloud.descriptors.block(row, 0, span, descCols));
const int span(cloud.descriptorLabels[i].span);
const std::string& name(cloud.descriptorLabels[i].text);
if (name == "normals" || name == "observationDirections")
outputDesc = R * inputDesc;
{
cloud.descriptors.block(row, 0, span, descCols).applyOnTheLeft(R);
}

row += span;
}

return transformedCloud;
}

//! Ensure orthogonality of the rotation matrix
Expand Down Expand Up @@ -159,7 +165,18 @@ typename PointMatcher<T>::DataPoints TransformationsImpl<T>::SimilarityTransform
const DataPoints& input,
const TransformationParameters& parameters) const
{
assert(input.features.rows() == parameters.rows());
DataPoints transformedCloud = input;
inPlaceCompute(parameters, transformedCloud);
return transformedCloud;
}

//! SimilarityTransformation
template<typename T>
void TransformationsImpl<T>::SimilarityTransformation::inPlaceCompute(
const TransformationParameters& parameters,
DataPoints& cloud) const
{
assert(cloud.features.rows() == parameters.rows());
assert(parameters.rows() == parameters.cols());

const unsigned int nbRows = parameters.rows()-1;
Expand All @@ -170,28 +187,23 @@ typename PointMatcher<T>::DataPoints TransformationsImpl<T>::SimilarityTransform
if(this->checkParameters(parameters) == false)
throw TransformationError("SimilarityTransformation: Error, invalid similarity transform.");

//DataPoints transformedCloud(input.featureLabels, input.descriptorLabels, input.timeLabels, input.features.cols());
DataPoints transformedCloud = input;

// Apply the transformation to features
transformedCloud.features = parameters * input.features;
cloud.features.applyOnTheLeft(parameters);

// Apply the transformation to descriptors
int row(0);
const int descCols(input.descriptors.cols());
for (size_t i = 0; i < input.descriptorLabels.size(); ++i)
const int descCols(cloud.descriptors.cols());
for (size_t i = 0; i < cloud.descriptorLabels.size(); ++i)
{
const int span(input.descriptorLabels[i].span);
const std::string& name(input.descriptorLabels[i].text);
const BOOST_AUTO(inputDesc, input.descriptors.block(row, 0, span, descCols));
BOOST_AUTO(outputDesc, transformedCloud.descriptors.block(row, 0, span, descCols));
const int span(cloud.descriptorLabels[i].span);
const std::string& name(cloud.descriptorLabels[i].text);
if (name == "normals" || name == "observationDirections")
outputDesc = R * inputDesc;
{
cloud.descriptors.block(row, 0, span, descCols).applyOnTheLeft(R);
}

row += span;
}

return transformedCloud;
}

//! Nothing to check for a similarity transform
Expand All @@ -215,19 +227,23 @@ template struct TransformationsImpl<double>::SimilarityTransformation;
template<typename T>
typename PointMatcher<T>::DataPoints TransformationsImpl<T>::PureTranslation::compute(const DataPoints& input,
const TransformationParameters& parameters) const {
assert(input.features.rows() == parameters.rows());
DataPoints transformedCloud = input;
inPlaceCompute(parameters, transformedCloud);
return transformedCloud;
}

template<typename T>
void TransformationsImpl<T>::PureTranslation::inPlaceCompute(
const TransformationParameters& parameters,
DataPoints& cloud) const {
assert(cloud.features.rows() == parameters.rows());
assert(parameters.rows() == parameters.cols());

if(this->checkParameters(parameters) == false)
throw PointMatcherSupport::TransformationError("PureTranslation: Error, left part not identity.");

//DataPoints transformedCloud(input.featureLabels, input.descriptorLabels, input.features.cols());
DataPoints transformedCloud = input;

// Apply the transformation to features
transformedCloud.features = parameters * input.features;

return transformedCloud;
cloud.features.applyOnTheLeft(parameters);
}

template<typename T>
Expand Down
3 changes: 3 additions & 0 deletions pointmatcher/TransformationsImpl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,7 @@ struct TransformationsImpl

RigidTransformation() : Transformation("RigidTransformation", ParametersDoc(), Parameters()) {}
virtual DataPoints compute(const DataPoints& input, const TransformationParameters& parameters) const;
virtual void inPlaceCompute(const TransformationParameters& parameters, DataPoints& cloud) const;
virtual bool checkParameters(const TransformationParameters& parameters) const;
virtual TransformationParameters correctParameters(const TransformationParameters& parameters) const;
};
Expand All @@ -72,6 +73,7 @@ struct TransformationsImpl
}

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virtual DataPoints compute(const DataPoints& input, const TransformationParameters& parameters) const;
virtual void inPlaceCompute(const TransformationParameters& parameters, DataPoints& cloud) const;
virtual bool checkParameters(const TransformationParameters& parameters) const;
virtual TransformationParameters correctParameters(const TransformationParameters& parameters) const;
};
Expand All @@ -85,6 +87,7 @@ struct TransformationsImpl

PureTranslation() : Transformation("PureTranslation", ParametersDoc(), Parameters()) {}
virtual DataPoints compute(const DataPoints& input, const TransformationParameters& parameters) const;
virtual void inPlaceCompute(const TransformationParameters& parameters, DataPoints& cloud) const;
virtual bool checkParameters(const TransformationParameters& parameters) const;
virtual TransformationParameters correctParameters(const TransformationParameters& parameters) const;
};
Expand Down
53 changes: 53 additions & 0 deletions utest/ui/Transformations.cpp
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Expand Up @@ -129,3 +129,56 @@ TEST(Transformation, RigidTransformation)

EXPECT_THROW(rigidTrans->correctParameters(T_2D_reflection), TransformationError);
}

TEST(Transformation, InPlaceRigidTransformation)
{
std::shared_ptr<PM::Transformation> rigidTrans;
rigidTrans = PM::get().REG(Transformation).create("RigidTransformation");

//-------------------------------------
// Construct a 3D non-orthogonal matrix
PM::Matrix T_3D = PM::Matrix::Identity(4,4);
//T_3D(0,0) = 2.3;
//T_3D(0,1) = 0.03;
T_3D << 0.99935116, 0.13669771, 0.03436585, 1.71138524,
-0.02633967, 0.99326295, -0.04907545, -0.10860933,
-0.03615132, 0.04400287, 0.99820427, -0.04454497,
0. , 0. , 0. , 1.;

EXPECT_FALSE(rigidTrans->checkParameters(T_3D));

EXPECT_THROW(rigidTrans->inPlaceCompute(T_3D, data3D), TransformationError);

// Check stability over iterations
for(int i = 0; i < 10; i++)
{
T_3D = rigidTrans->correctParameters(T_3D);
ASSERT_TRUE(rigidTrans->checkParameters(T_3D));
}

//-------------------------------------
// Construct a 2D non-orthogonal matrix
PM::Matrix T_2D_non_ortho = PM::Matrix::Identity(3,3);
T_2D_non_ortho(0,0) = 0.8;
T_2D_non_ortho(0,1) = -0.5;
T_2D_non_ortho(1,0) = 0.5;
T_2D_non_ortho(1,1) = 0.8;

EXPECT_FALSE(rigidTrans->checkParameters(T_2D_non_ortho));

EXPECT_THROW(rigidTrans->inPlaceCompute(T_2D_non_ortho, data2D), TransformationError);

// Check stability over iterations
for(int i = 0; i < 10; i++)
{
T_2D_non_ortho = rigidTrans->correctParameters(T_2D_non_ortho);
EXPECT_TRUE(rigidTrans->checkParameters(T_2D_non_ortho));
}

//-------------------------------------
// Construct a 2D reflection matrix
PM::Matrix T_2D_reflection = PM::Matrix::Identity(3,3);
T_2D_reflection(1,1) = -1;

EXPECT_THROW(rigidTrans->correctParameters(T_2D_reflection), TransformationError);
}