test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

/**
 * icp3d
 * Execute an Iterative Closest Point algorithm using two 3D point clouds.
 */

#include <mrpt/slam/CICP.h>

#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/opengl/CAngularObservationMesh.h>
#include <mrpt/opengl/CDisk.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CSphere.h>
#include <mrpt/opengl/stock_objects.h>
#include <mrpt/poses/CPose3DPDF.h>
#include <iostream>

using namespace std;
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::opengl;
using namespace mrpt::poses;
using namespace mrpt::slam;
using namespace mrpt::maps;
using namespace mrpt::obs;

// Increase this values to get more precision. It will also increase run time.
const size_t HOW_MANY_YAWS = 120;
const size_t HOW_MANY_PITCHS = 120;

// The scans of the 3D object, taken from 2 different places:
vector<CObservation2DRangeScan> sequence_scans1, sequence_scans2;

// The two origins for the 3D scans
CPose3D viewpoint1(-0.3, 0.7, 3, 5.0_deg, 80.0_deg, 3.0_deg);
CPose3D viewpoint2(0.5, -0.2, 2.6, -5.0_deg, 100.0_deg, -7.0_deg);

CPose3D SCAN2_POSE_ERROR(0.15, -0.07, 0.10, -0.03, 0.1, 0.1);

/**
 * Generate 3 objects to work with - 1 sphere, 2 disks
 */
void generateObjects(CSetOfObjects::Ptr& world)
{
    CSphere::Ptr sph = CSphere::Create(0.5);
    sph->setLocation(0, 0, 0);
    sph->setColor(1, 0, 0);
    world->insert(sph);

    CDisk::Ptr pln = opengl::CDisk::Create();
    pln->setDiskRadius(2);
    pln->setPose(CPose3D(0, 0, 0, 0, 5.0_deg, 5.0_deg));
    pln->setColor(0.8, 0, 0);
    world->insert(pln);

    {
        CDisk::Ptr pln = opengl::CDisk::Create();
        pln->setDiskRadius(2);
        pln->setPose(CPose3D(0, 0, 0, 30.0_deg, -20.0_deg, -2.0_deg));
        pln->setColor(0.9, 0, 0);
        world->insert(pln);
    }
}

void test_icp3D()
{
    // Create the reference objects:
    COpenGLScene::Ptr scene1 = COpenGLScene::Create();
    COpenGLScene::Ptr scene2 = COpenGLScene::Create();
    COpenGLScene::Ptr scene3 = COpenGLScene::Create();

    opengl::CGridPlaneXY::Ptr plane1 =
        CGridPlaneXY::Create(-20, 20, -20, 20, 0, 1);
    plane1->setColor(0.3f, 0.3f, 0.3f);
    scene1->insert(plane1);
    scene2->insert(plane1);
    scene3->insert(plane1);

    CSetOfObjects::Ptr world = CSetOfObjects::Create();
    generateObjects(world);
    scene1->insert(world);

    // Perform the 3D scans:
    CAngularObservationMesh::Ptr aom1 = CAngularObservationMesh::Create();
    CAngularObservationMesh::Ptr aom2 = CAngularObservationMesh::Create();

    cout << "Performing ray-tracing..." << endl;
    CAngularObservationMesh::trace2DSetOfRays(
        scene1, viewpoint1, aom1,
        CAngularObservationMesh::TDoubleRange::CreateFromAperture(
            M_PI, HOW_MANY_PITCHS),
        CAngularObservationMesh::TDoubleRange::CreateFromAperture(
            M_PI, HOW_MANY_YAWS));
    CAngularObservationMesh::trace2DSetOfRays(
        scene1, viewpoint2, aom2,
        CAngularObservationMesh::TDoubleRange::CreateFromAperture(
            M_PI, HOW_MANY_PITCHS),
        CAngularObservationMesh::TDoubleRange::CreateFromAperture(
            M_PI, HOW_MANY_YAWS));
    cout << "Ray-tracing done" << endl;

    // Put the viewpoints origins:
    {
        CSetOfObjects::Ptr origin1 = opengl::stock_objects::CornerXYZ();
        origin1->setPose(viewpoint1);
        origin1->setScale(0.6);
        scene1->insert(origin1);
        scene2->insert(origin1);
    }
    {
        CSetOfObjects::Ptr origin2 = opengl::stock_objects::CornerXYZ();
        origin2->setPose(viewpoint2);
        origin2->setScale(0.6);
        scene1->insert(origin2);
        scene2->insert(origin2);
    }

    // Show the scanned points:
    CSimplePointsMap M1, M2;

    aom1->generatePointCloud(&M1);
    aom2->generatePointCloud(&M2);

    // Create the wrongly-localized M2:
    CSimplePointsMap M2_noisy;
    M2_noisy = M2;
    M2_noisy.changeCoordinatesReference(SCAN2_POSE_ERROR);

    CSetOfObjects::Ptr PTNS1 = CSetOfObjects::Create();
    CSetOfObjects::Ptr PTNS2 = CSetOfObjects::Create();

    M1.renderOptions.color = mrpt::img::TColorf(1, 0, 0);
    M1.getAs3DObject(PTNS1);

    M2_noisy.renderOptions.color = mrpt::img::TColorf(0, 0, 1);
    M2_noisy.getAs3DObject(PTNS2);

    scene2->insert(PTNS1);
    scene2->insert(PTNS2);

    // --------------------------------------
    // Do the ICP-3D
    // --------------------------------------
    CICP icp;
    CICP::TReturnInfo icp_info;

    icp.options.thresholdDist = 0.40;
    icp.options.thresholdAng = 0;

    std::vector<double> xs, ys, zs;
    M1.getAllPoints(xs, ys, ys);
    cout << "Size of  xs in M1: " << xs.size() << endl;
    M2.getAllPoints(xs, ys, ys);
    cout << "Size of  xs in M2: " << xs.size() << endl;

    CPose3DPDF::Ptr pdf = icp.Align3D(
        &M2_noisy,  // Map to align
        &M1,  // Reference map
        CPose3D(),  // Initial gross estimate
        icp_info);

    CPose3D mean = pdf->getMeanVal();

    cout << "ICP run took " << icp_info.executionTime << " secs." << endl;
    cout << "Goodness: " << 100 * icp_info.goodness
         << "% , # of iterations= " << icp_info.nIterations
         << " Quality: " << icp_info.quality << endl;
    cout << "ICP output: mean= " << mean << endl;
    cout << "Real displacement: " << SCAN2_POSE_ERROR << endl;

    // Aligned maps:
    CSetOfObjects::Ptr PTNS2_ALIGN = CSetOfObjects::Create();

    M2_noisy.changeCoordinatesReference(CPose3D() - mean);
    M2_noisy.getAs3DObject(PTNS2_ALIGN);

    scene3->insert(PTNS1);
    scene3->insert(PTNS2_ALIGN);

    // Show in Windows:
    CDisplayWindow3D window("ICP-3D demo: scene", 500, 500);
    CDisplayWindow3D window2("ICP-3D demo: UNALIGNED scans", 500, 500);
    CDisplayWindow3D window3("ICP-3D demo: ICP-ALIGNED scans", 500, 500);

    window.setPos(10, 10);
    window2.setPos(530, 10);
    window3.setPos(10, 520);

    window.get3DSceneAndLock() = scene1;
    window.unlockAccess3DScene();

    window2.get3DSceneAndLock() = scene2;
    window2.unlockAccess3DScene();

    window3.get3DSceneAndLock() = scene3;
    window3.unlockAccess3DScene();

    std::this_thread::sleep_for(20ms);
    window.forceRepaint();
    window2.forceRepaint();

    window.setCameraElevationDeg(15);
    window.setCameraAzimuthDeg(90);
    window.setCameraZoom(15);

    window2.setCameraElevationDeg(15);
    window2.setCameraAzimuthDeg(90);
    window2.setCameraZoom(15);

    window3.setCameraElevationDeg(15);
    window3.setCameraAzimuthDeg(90);
    window3.setCameraZoom(15);

    cout << "Press any key to exit..." << endl;
    window.waitForKey();
}

int main()
{
    try
    {
        test_icp3D();
        return 0;
    }
    catch (exception& e)
    {
        cout << "Error: " << e.what() << '.' << endl;
        return -1;
    }
    catch (...)
    {
        cout << "Unknown Error.\n";
        return -1;
    }
}