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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 "ccGriddedTools.h"
//Local
#include "ccGBLSensor.h"
#include "ccLog.h"
//! Association of an angle and the corresponding number of rows/columns
using AngleAndSpan = std::pair<PointCoordinateType,unsigned>;
bool ccGriddedTools::DetectParameters( const ccPointCloud* cloud,
const ccPointCloud::Grid::Shared grid,
GridParameters& parameters,
bool verbose/*=false*/,
ccGLMatrix* cloudToSensorTrans/*=0*/)
{
if (!cloud || !grid)
{
assert(false);
return false;
}
parameters.minPhi = static_cast<PointCoordinateType>(M_PI);
parameters.maxPhi = -parameters.minPhi;
parameters.minTheta = static_cast<PointCoordinateType>(M_PI);
parameters.maxTheta = -parameters.minTheta;
parameters.deltaPhiRad = 0;
parameters.deltaThetaRad = 0;
parameters.maxRange = 0;
//we must test if the angles are shifted (i.e the scan spans above theta = pi)
//we'll compute all parameters for both cases, and choose the best one at the end!
PointCoordinateType minPhiShifted = parameters.minPhi;
PointCoordinateType maxPhiShifted = parameters.maxPhi;
PointCoordinateType minThetaShifted = parameters.minTheta;
PointCoordinateType maxThetaShifted = parameters.maxTheta;
try
{
//determine the PITCH angular step
{
std::vector< AngleAndSpan > angles;
std::vector< AngleAndSpan > anglesShifted;
//for each ROW we determine the min and max valid grid point (i.e. index >= 0)
const int* _indexGrid = grid->indexes.data();
for (unsigned j=0; j<grid->h; ++j)
{
unsigned minIndex = grid->w;
unsigned maxIndex = 0;
for (unsigned i=0; i<grid->w; ++i)
{
if (_indexGrid[i] >= 0)
{
if (i < minIndex)
minIndex = i;
if (i > maxIndex)
maxIndex = i;
}
}
if (maxIndex > minIndex)
{
PointCoordinateType minPhiCurrentLine = 0;
PointCoordinateType maxPhiCurrentLine = 0;
PointCoordinateType minPhiCurrentLineShifted = 0;
PointCoordinateType maxPhiCurrentLineShifted = 0;
for (unsigned k=minIndex; k<=maxIndex; ++k)
{
int index = _indexGrid[k];
if (index >= 0)
{
CCVector3 P = *(cloud->getPoint(static_cast<unsigned>(index)));
if (cloudToSensorTrans)
cloudToSensorTrans->apply(P);
PointCoordinateType p = atan2(P.z, sqrt(P.x*P.x + P.y*P.y)); //see ccGBLSensor::projectPoint
PointCoordinateType pShifted = (p < 0 ? p + static_cast<PointCoordinateType>(2.0*M_PI) : p);
if (k != minIndex)
{
if (minPhiCurrentLine > p)
minPhiCurrentLine = p;
else if (maxPhiCurrentLine < p)
maxPhiCurrentLine = p;
if (minPhiCurrentLineShifted > pShifted)
minPhiCurrentLineShifted = pShifted;
else if (maxPhiCurrentLineShifted < pShifted)
maxPhiCurrentLineShifted = pShifted;
}
else
{
minPhiCurrentLine = maxPhiCurrentLine = p;
minPhiCurrentLineShifted = maxPhiCurrentLineShifted = pShifted;
}
//find max range
PointCoordinateType range = P.norm();
if (range > parameters.maxRange)
parameters.maxRange = range;
}
}
if (parameters.minPhi > minPhiCurrentLine)
parameters.minPhi = minPhiCurrentLine;
if (parameters.maxPhi < maxPhiCurrentLine)
parameters.maxPhi = maxPhiCurrentLine;
if (minPhiShifted > minPhiCurrentLineShifted)
minPhiShifted = minPhiCurrentLineShifted;
if (maxPhiShifted < maxPhiCurrentLineShifted)
maxPhiShifted = maxPhiCurrentLineShifted;
unsigned span = maxIndex-minIndex+1;
ScalarType angle_rad = static_cast<ScalarType>((maxPhiCurrentLine-minPhiCurrentLine) / span);
angles.emplace_back(angle_rad, span);
ScalarType angleShifted_rad = static_cast<ScalarType>((maxPhiCurrentLineShifted-minPhiCurrentLineShifted) / span);
anglesShifted.emplace_back(angleShifted_rad, span);
}
_indexGrid += grid->w;
}
if (!angles.empty())
{
//check the 'shifted' hypothesis
PointCoordinateType spanShifted = maxPhiShifted - minPhiShifted;
PointCoordinateType span = parameters.maxPhi - parameters.minPhi;
if (spanShifted < 0.99 * span)
{
//we prefer the shifted version!
angles = anglesShifted;
parameters.minPhi = minPhiShifted;
parameters.maxPhi = maxPhiShifted;
}
//we simply take the biggest step evaluation for the widest span!
size_t maxSpanIndex = 0;
for (size_t i=1; i<angles.size(); ++i)
{
if ( angles[i].second > angles[maxSpanIndex].second
|| (angles[i].second == angles[maxSpanIndex].second && angles[i].first > angles[maxSpanIndex].first) )
{
maxSpanIndex = i;
}
}
parameters.deltaPhiRad = static_cast<PointCoordinateType>(angles[maxSpanIndex].first);
if (verbose)
{
ccLog::Print(QString("[Scan grid] Detected pitch step: %1 degrees (span [%2 - %3])").arg(parameters.deltaPhiRad * CC_RAD_TO_DEG).arg(parameters.minPhi * CC_RAD_TO_DEG).arg(parameters.maxPhi * CC_RAD_TO_DEG));
}
}
else
{
ccLog::Warning("[Scan grid] Not enough valid points to compute the scan angular step (pitch)!");
return false;
}
}
//now determine the YAW angular step
{
std::vector< AngleAndSpan > angles;
std::vector< AngleAndSpan > anglesShifted;
//for each COLUMN we determine the min and max valid grid point (i.e. index >= 0)
for (unsigned i=0; i<grid->w; ++i)
{
const int* _indexGrid = &(grid->indexes[i]);
unsigned minIndex = grid->h;
unsigned maxIndex = 0;
for (unsigned j=0; j<grid->h; ++j)
{
if (_indexGrid[j*grid->w] >= 0)
{
if (j < minIndex)
minIndex = j;
if (j > maxIndex)
maxIndex = j;
}
}
if (maxIndex > minIndex)
{
PointCoordinateType minThetaCurrentCol = 0;
PointCoordinateType maxThetaCurrentCol = 0;
PointCoordinateType minThetaCurrentColShifted = 0;
PointCoordinateType maxThetaCurrentColShifted = 0;
for (unsigned k=minIndex; k<=maxIndex; ++k)
{
int index = _indexGrid[k*grid->w];
if (index >= 0)
{
//warning: indexes are shifted (0 = no point)
CCVector3 P = *(cloud->getPoint(static_cast<unsigned>(index)));
if (cloudToSensorTrans)
cloudToSensorTrans->apply(P);
PointCoordinateType t = atan2(P.y, P.x); //see ccGBLSensor::projectPoint
PointCoordinateType tShifted = (t < 0 ? t + static_cast<PointCoordinateType>(2.0*M_PI) : t);
if (k != minIndex)
{
if (minThetaCurrentColShifted > tShifted)
minThetaCurrentColShifted = tShifted;
else if (maxThetaCurrentColShifted < tShifted)
maxThetaCurrentColShifted = tShifted;
if (minThetaCurrentCol > t)
minThetaCurrentCol = t;
else if (maxThetaCurrentCol < t)
maxThetaCurrentCol = t;
}
else
{
minThetaCurrentCol = maxThetaCurrentCol = t;
minThetaCurrentColShifted = maxThetaCurrentColShifted = tShifted;
}
}
}
if (parameters.minTheta > minThetaCurrentCol)
parameters.minTheta = minThetaCurrentCol;
if (parameters.maxTheta < maxThetaCurrentCol)
parameters.maxTheta = maxThetaCurrentCol;
if (minThetaShifted > minThetaCurrentColShifted)
minThetaShifted = minThetaCurrentColShifted;
if (maxThetaShifted < maxThetaCurrentColShifted)
maxThetaShifted = maxThetaCurrentColShifted;
unsigned span = maxIndex-minIndex;
ScalarType angle_rad = static_cast<ScalarType>((maxThetaCurrentCol-minThetaCurrentCol) / span);
angles.emplace_back(angle_rad,span);
ScalarType angleShifted_rad = static_cast<ScalarType>((maxThetaCurrentColShifted-minThetaCurrentColShifted) / span);
anglesShifted.emplace_back(angleShifted_rad,span);
}
}
if (!angles.empty())
{
//check the 'shifted' hypothesis
PointCoordinateType spanShifted = maxThetaShifted - minThetaShifted;
PointCoordinateType span = parameters.maxTheta - parameters.minTheta;
if (spanShifted < 0.99 * span)
{
//we prefer the shifted version!
angles = anglesShifted;
parameters.minTheta = minThetaShifted;
parameters.maxTheta = maxThetaShifted;
}
//we simply take the biggest step evaluation for the widest span!
size_t maxSpanIndex = 0;
for (size_t i=1; i<angles.size(); ++i)
{
if ( angles[i].second > angles[maxSpanIndex].second
|| (angles[i].second == angles[maxSpanIndex].second && angles[i].first > angles[maxSpanIndex].first) )
{
maxSpanIndex = i;
}
}
parameters.deltaThetaRad = static_cast<PointCoordinateType>(angles[maxSpanIndex].first);
if (verbose)
{
ccLog::Print(QString("[Scan grid] Detected yaw step: %1 degrees (span [%2 - %3])").arg(parameters.deltaThetaRad * CC_RAD_TO_DEG).arg(parameters.minTheta * CC_RAD_TO_DEG).arg(parameters.maxTheta * CC_RAD_TO_DEG));
}
}
else
{
ccLog::Warning("[Scan grid] Not enough valid points to compute the scan angular steps!");
return false;
}
}
}
catch (const std::bad_alloc&)
{
ccLog::Warning("[Scan grid] Not enough memory to compute the scan angular steps!");
return false;
}
return true;
}
ccGBLSensor* ccGriddedTools::ComputeBestSensor(ccPointCloud* cloud, ccPointCloud::Grid::Shared grid, ccGLMatrix* cloudToSensorTrans/*=0*/)
{
GridParameters parameters;
if (!DetectParameters(cloud, grid, parameters, true, cloudToSensorTrans))
{
return nullptr;
}
ccGBLSensor* sensor = new ccGBLSensor(ccGBLSensor::YAW_THEN_PITCH);
if (sensor)
{
sensor->setPitchStep(parameters.deltaPhiRad);
sensor->setPitchRange(parameters.minPhi,parameters.maxPhi);
sensor->setYawStep(parameters.deltaThetaRad);
sensor->setYawRange(parameters.minTheta,parameters.maxTheta);
sensor->setSensorRange(parameters.maxRange);
sensor->setGraphicScale(PC_ONE/2);
sensor->setVisible(true);
sensor->setEnabled(false);
}
return sensor;
}
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