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/* +------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| https://www.mrpt.org/ |
| |
| Copyright (c) 2005-2023, 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/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 <mrpt/slam/CICP.h>
#include <chrono>
#include <iostream>
#include <thread>
using namespace std;
using namespace mrpt::literals; // _deg
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 = 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 = 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();
auto 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:
auto aom1 = CAngularObservationMesh::Create();
auto 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 = stock_objects::CornerXYZ();
origin1->setPose(viewpoint1);
origin1->setScale(0.6);
scene1->insert(origin1);
scene2->insert(origin1);
}
{
CSetOfObjects::Ptr origin2 = 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);
M1.renderOptions.color = mrpt::img::TColorf(1, 0, 0);
M2_noisy.renderOptions.color = mrpt::img::TColorf(0, 0, 1);
scene2->insert(M1.getVisualization());
scene2->insert(M2_noisy.getVisualization());
// --------------------------------------
// 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:
M2_noisy.changeCoordinatesReference(CPose3D() - mean);
scene3->insert(M1.getVisualization());
scene3->insert(M2_noisy.getVisualization());
// 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;
}
}
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