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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include <thread>
#include "open3d/Open3D.h"
#include "tools/ManuallyAlignPointCloud/VisualizerForAlignment.h"
void PrintTransformation(const Eigen::Matrix4d &transformation) {
using namespace open3d;
utility::LogInfo("Current transformation is:");
utility::LogInfo("\t{:.6f} {:.6f} {:.6f} {:.6f}", transformation(0, 0),
transformation(0, 1), transformation(0, 2),
transformation(0, 3));
utility::LogInfo("\t{:.6f} {:.6f} {:.6f} {:.6f}", transformation(1, 0),
transformation(1, 1), transformation(1, 2),
transformation(1, 3));
utility::LogInfo("\t{:.6f} {:.6f} {:.6f} {:.6f}", transformation(2, 0),
transformation(2, 1), transformation(2, 2),
transformation(2, 3));
utility::LogInfo("\t{:.6f} {:.6f} {:.6f} {:.6f}", transformation(3, 0),
transformation(3, 1), transformation(3, 2),
transformation(3, 3));
}
void PrintHelp() {
using namespace open3d;
// PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > ManuallyAlignPointCloud source_file target_file [options]");
utility::LogInfo(" Manually align point clouds in source_file and target_file.");
utility::LogInfo("");
utility::LogInfo("Options:");
utility::LogInfo(" --help, -h : Print help information.");
utility::LogInfo(" --verbose n : Set verbose level (0-4).");
utility::LogInfo(" --voxel_size d : Set downsample voxel size.");
utility::LogInfo(" --max_corres_distance d : Set max correspondence distance.");
utility::LogInfo(" --without_scaling : Disable scaling in transformations.");
utility::LogInfo(" --without_dialog : Disable dialogs. Default files will be used.");
utility::LogInfo(" --without_gui_icp file : The program runs as a console command. No window");
utility::LogInfo(" will be created. The program reads an alignment");
utility::LogInfo(" from file. It does cropping, downsample, ICP,");
utility::LogInfo(" then saves the alignment session into file.");
utility::LogInfo(" --without_gui_eval file : The program runs as a console command. No window");
utility::LogInfo(" will be created. The program reads an alignment");
utility::LogInfo(" from file. It does cropping, downsample,");
utility::LogInfo(" evaluation, then saves everything.");
// clang-format on
}
int main(int argc, char **argv) {
using namespace open3d;
if (argc < 3 || utility::ProgramOptionExists(argc, argv, "--help") ||
utility::ProgramOptionExists(argc, argv, "-h")) {
PrintHelp();
return 0;
}
int verbose = utility::GetProgramOptionAsInt(argc, argv, "--verbose", 2);
utility::SetVerbosityLevel((utility::VerbosityLevel)verbose);
double voxel_size =
utility::GetProgramOptionAsDouble(argc, argv, "--voxel_size", -1.0);
double max_corres_distance = utility::GetProgramOptionAsDouble(
argc, argv, "--max_corres_distance", -1.0);
bool with_scaling =
!utility::ProgramOptionExists(argc, argv, "--without_scaling");
bool with_dialog =
!utility::ProgramOptionExists(argc, argv, "--without_dialog");
std::string default_polygon_filename =
utility::filesystem::GetFileNameWithoutExtension(argv[2]) + ".json";
std::string alignment_filename = utility::GetProgramOptionAsString(
argc, argv, "--without_gui_icp", "");
std::string eval_filename = utility::GetProgramOptionAsString(
argc, argv, "--without_gui_eval", "");
std::string default_directory =
utility::filesystem::GetFileParentDirectory(argv[1]);
auto source_ptr = io::CreatePointCloudFromFile(argv[1]);
auto target_ptr = io::CreatePointCloudFromFile(argv[2]);
if (source_ptr == nullptr || target_ptr == nullptr ||
source_ptr->IsEmpty() || target_ptr->IsEmpty()) {
utility::LogWarning("Failed to read one of the point clouds.");
return 1;
}
if (!alignment_filename.empty()) {
AlignmentSession session;
if (!io::ReadIJsonConvertible(alignment_filename, session)) {
return 0;
}
session.voxel_size_ = voxel_size;
session.max_correspondence_distance_ = max_corres_distance;
source_ptr->Transform(session.transformation_);
auto polygon_volume =
std::make_shared<visualization::SelectionPolygonVolume>();
if (io::ReadIJsonConvertible(default_polygon_filename,
*polygon_volume)) {
utility::LogInfo("Crop point cloud.");
source_ptr = polygon_volume->CropPointCloud(*source_ptr);
}
if (voxel_size > 0.0) {
utility::LogInfo("Downsample point cloud with voxel size {:.4f}.",
voxel_size);
source_ptr = source_ptr->VoxelDownSample(voxel_size);
}
if (max_corres_distance > 0.0) {
utility::LogInfo("ICP with max correspondence distance {:.4f}.",
max_corres_distance);
auto result = pipelines::registration::RegistrationICP(
*source_ptr, *target_ptr, max_corres_distance,
Eigen::Matrix4d::Identity(),
pipelines::registration::
TransformationEstimationPointToPoint(true),
pipelines::registration::ICPConvergenceCriteria(1e-6, 1e-6,
30));
utility::LogInfo(
"Registration finished with fitness {:.4f} and RMSE "
"{:.4f}.",
result.fitness_, result.inlier_rmse_);
if (result.fitness_ > 0.0) {
session.transformation_ =
result.transformation_ * session.transformation_;
PrintTransformation(session.transformation_);
source_ptr->Transform(result.transformation_);
}
}
io::WriteIJsonConvertible(alignment_filename, session);
return 1;
}
if (!eval_filename.empty()) {
AlignmentSession session;
if (!io::ReadIJsonConvertible(eval_filename, session)) {
return 0;
}
source_ptr->Transform(session.transformation_);
auto polygon_volume =
std::make_shared<visualization::SelectionPolygonVolume>();
if (io::ReadIJsonConvertible(default_polygon_filename,
*polygon_volume)) {
utility::LogInfo("Crop point cloud.");
source_ptr = polygon_volume->CropPointCloud(*source_ptr);
}
if (voxel_size > 0.0) {
utility::LogInfo("Downsample point cloud with voxel size {:.4f}.",
voxel_size);
source_ptr = source_ptr->VoxelDownSample(voxel_size);
}
std::string source_filename =
utility::filesystem::GetFileNameWithoutExtension(
eval_filename) +
".source.ply";
std::string target_filename =
utility::filesystem::GetFileNameWithoutExtension(
eval_filename) +
".target.ply";
std::string source_binname =
utility::filesystem::GetFileNameWithoutExtension(
eval_filename) +
".source.bin";
std::string target_binname =
utility::filesystem::GetFileNameWithoutExtension(
eval_filename) +
".target.bin";
FILE *f;
io::WritePointCloud(source_filename, *source_ptr);
auto source_dis = source_ptr->ComputePointCloudDistance(*target_ptr);
if ((f = utility::filesystem::FOpen(source_binname, "wb"))) {
fwrite(source_dis.data(), sizeof(double), source_dis.size(), f);
fclose(f);
} else {
utility::LogError("Failed to open {} for writing.", source_binname);
}
io::WritePointCloud(target_filename, *target_ptr);
auto target_dis = target_ptr->ComputePointCloudDistance(*source_ptr);
if ((f = utility::filesystem::FOpen(target_binname, "wb"))) {
fwrite(target_dis.data(), sizeof(double), target_dis.size(), f);
fclose(f);
} else {
utility::LogError("Failed to open {} for writing.", target_binname);
}
return 1;
}
visualization::VisualizerWithEditing vis_source, vis_target;
VisualizerForAlignment vis_main(vis_source, vis_target, voxel_size,
max_corres_distance, with_scaling,
with_dialog, default_polygon_filename,
default_directory);
vis_source.CreateVisualizerWindow("Source Point Cloud", 1280, 720, 10, 100);
vis_source.AddGeometry(source_ptr);
if (source_ptr->points_.size() > 5000000) {
vis_source.GetRenderOption().point_size_ = 1.0;
}
vis_source.BuildUtilities();
vis_target.CreateVisualizerWindow("Target Point Cloud", 1280, 720, 10, 880);
vis_target.AddGeometry(target_ptr);
if (target_ptr->points_.size() > 5000000) {
vis_target.GetRenderOption().point_size_ = 1.0;
}
vis_target.BuildUtilities();
vis_main.CreateVisualizerWindow("Alignment", 1280, 1440, 1300, 100);
vis_main.AddSourceAndTarget(source_ptr, target_ptr);
vis_main.BuildUtilities();
while (vis_source.PollEvents() && vis_target.PollEvents() &&
vis_main.PollEvents()) {
}
vis_source.DestroyVisualizerWindow();
vis_target.DestroyVisualizerWindow();
vis_main.DestroyVisualizerWindow();
return 0;
}
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