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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "tools/ManuallyAlignPointCloud/VisualizerForAlignment.h"
#include <tinyfiledialogs/tinyfiledialogs.h>
namespace open3d {
void VisualizerForAlignment::PrintVisualizerHelp() {
visualization::Visualizer::PrintVisualizerHelp();
// clang-format off
utility::LogInfo(" -- Alignment control --");
utility::LogInfo(" Ctrl + R : Reset source and target to initial state.");
utility::LogInfo(" Ctrl + S : Save current alignment session into a JSON file.");
utility::LogInfo(" Ctrl + O : Load current alignment session from a JSON file.");
utility::LogInfo(" Ctrl + A : Align point clouds based on manually annotations.");
utility::LogInfo(" Ctrl + I : Run ICP refinement.");
utility::LogInfo(" Ctrl + D : Run voxel downsample for both source and target.");
utility::LogInfo(" Ctrl + K : Load a polygon from a JSON file and crop source.");
utility::LogInfo(" Ctrl + E : Evaluate error and save to files.");
// clang-format on
}
bool VisualizerForAlignment::AddSourceAndTarget(
std::shared_ptr<geometry::PointCloud> source,
std::shared_ptr<geometry::PointCloud> target) {
GetRenderOption().point_size_ = 1.0;
alignment_session_.source_ptr_ = source;
alignment_session_.target_ptr_ = target;
source_copy_ptr_ = std::make_shared<geometry::PointCloud>();
target_copy_ptr_ = std::make_shared<geometry::PointCloud>();
*source_copy_ptr_ = *source;
*target_copy_ptr_ = *target;
return AddGeometry(source_copy_ptr_) && AddGeometry(target_copy_ptr_);
}
void VisualizerForAlignment::KeyPressCallback(
GLFWwindow *window, int key, int scancode, int action, int mods) {
if (action == GLFW_PRESS && (mods & GLFW_MOD_CONTROL)) {
const char *filename;
const char *pattern[1] = {"*.json"};
switch (key) {
case GLFW_KEY_R: {
*source_copy_ptr_ = *alignment_session_.source_ptr_;
*target_copy_ptr_ = *alignment_session_.target_ptr_;
ResetViewPoint(true);
UpdateGeometry();
return;
}
case GLFW_KEY_S: {
std::string default_alignment =
default_directory_ + "alignment.json";
if (use_dialog_) {
filename = tinyfd_saveFileDialog(
"Alignment session", default_alignment.c_str(), 1,
pattern, "JSON file (*.json)");
} else {
filename = default_alignment.c_str();
}
if (filename != NULL) {
SaveSessionToFile(filename);
}
return;
}
case GLFW_KEY_O: {
std::string default_alignment =
default_directory_ + "alignment.json";
if (use_dialog_) {
filename = tinyfd_openFileDialog(
"Alignment session", default_alignment.c_str(), 1,
pattern, "JSON file (*.json)", 0);
} else {
filename = default_alignment.c_str();
}
if (filename != NULL) {
LoadSessionFromFile(filename);
}
return;
}
case GLFW_KEY_A: {
if (AlignWithManualAnnotation()) {
ResetViewPoint(true);
UpdateGeometry();
}
return;
}
case GLFW_KEY_I: {
if (use_dialog_) {
std::string buffer =
fmt::format("{:.4f}", max_correspondence_distance_);
const char *str = tinyfd_inputBox(
"Set voxel size",
"Set max correspondence distance for ICP (ignored "
"if it is non-positive)",
buffer.c_str());
if (str == NULL) {
utility::LogWarning("Dialog closed.");
return;
} else {
char *end;
errno = 0;
double l = std::strtod(str, &end);
if (errno == ERANGE &&
(l == HUGE_VAL || l == -HUGE_VAL)) {
utility::LogWarning(
"Illegal input, use default max "
"correspondence distance.");
} else {
max_correspondence_distance_ = l;
}
}
}
if (max_correspondence_distance_ > 0.0) {
utility::LogInfo(
"ICP with max correspondence distance {:.4f}.",
max_correspondence_distance_);
auto result = pipelines::registration::RegistrationICP(
*source_copy_ptr_, *target_copy_ptr_,
max_correspondence_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) {
transformation_ =
result.transformation_ * transformation_;
PrintTransformation();
source_copy_ptr_->Transform(result.transformation_);
UpdateGeometry();
}
} else {
utility::LogWarning(
"No ICP performed due to illegal max "
"correspondence distance.");
}
return;
}
case GLFW_KEY_D: {
if (use_dialog_) {
std::string buffer = fmt::format("{:.4f}", voxel_size_);
const char *str = tinyfd_inputBox(
"Set voxel size",
"Set voxel size (ignored if it is non-positive)",
buffer.c_str());
if (str == NULL) {
utility::LogWarning("Dialog closed.");
return;
} else {
char *end;
errno = 0;
double l = std::strtod(str, &end);
if (errno == ERANGE &&
(l == HUGE_VAL || l == -HUGE_VAL)) {
utility::LogWarning(
"Illegal input, use default voxel size.");
} else {
voxel_size_ = l;
}
}
}
if (voxel_size_ > 0.0) {
utility::LogInfo("Voxel downsample with voxel size {:.4f}.",
voxel_size_);
*source_copy_ptr_ =
*source_copy_ptr_->VoxelDownSample(voxel_size_);
UpdateGeometry();
} else {
utility::LogWarning(
"No voxel downsample performed due to illegal "
"voxel size.");
}
return;
}
case GLFW_KEY_K: {
if (!utility::filesystem::FileExists(polygon_filename_)) {
if (use_dialog_) {
if (const char *polygon_filename_chars =
tinyfd_openFileDialog("Bounding polygon",
"polygon.json", 0,
NULL, NULL, 0)) {
polygon_filename_ =
std::string(polygon_filename_chars);
} else {
utility::LogError(
"Internal error: tinyfd_openFileDialog "
"returned nullptr.");
}
} else {
polygon_filename_ = "polygon.json";
}
}
auto polygon_volume = std::make_shared<
visualization::SelectionPolygonVolume>();
if (io::ReadIJsonConvertible(polygon_filename_,
*polygon_volume)) {
*source_copy_ptr_ =
*polygon_volume->CropPointCloud(*source_copy_ptr_);
ResetViewPoint(true);
UpdateGeometry();
}
return;
}
case GLFW_KEY_E: {
std::string default_alignment =
default_directory_ + "alignment.json";
if (use_dialog_) {
filename = tinyfd_saveFileDialog(
"Alignment session", default_alignment.c_str(), 1,
pattern, "JSON file (*.json)");
} else {
filename = default_alignment.c_str();
}
if (filename != NULL) {
SaveSessionToFile(filename);
EvaluateAlignmentAndSave(filename);
}
return;
}
}
}
visualization::Visualizer::KeyPressCallback(window, key, scancode, action,
mods);
}
bool VisualizerForAlignment::SaveSessionToFile(const std::string &filename) {
alignment_session_.source_indices_ = source_visualizer_.GetPickedPoints();
alignment_session_.target_indices_ = target_visualizer_.GetPickedPoints();
alignment_session_.voxel_size_ = voxel_size_;
alignment_session_.max_correspondence_distance_ =
max_correspondence_distance_;
alignment_session_.with_scaling_ = with_scaling_;
alignment_session_.transformation_ = transformation_;
return io::WriteIJsonConvertible(filename, alignment_session_);
}
bool VisualizerForAlignment::LoadSessionFromFile(const std::string &filename) {
if (!io::ReadIJsonConvertible(filename, alignment_session_)) {
return false;
}
source_visualizer_.GetPickedPoints() = alignment_session_.source_indices_;
target_visualizer_.GetPickedPoints() = alignment_session_.target_indices_;
voxel_size_ = alignment_session_.voxel_size_;
max_correspondence_distance_ =
alignment_session_.max_correspondence_distance_;
with_scaling_ = alignment_session_.with_scaling_;
transformation_ = alignment_session_.transformation_;
*source_copy_ptr_ = *alignment_session_.source_ptr_;
source_copy_ptr_->Transform(transformation_);
source_visualizer_.UpdateRender();
target_visualizer_.UpdateRender();
ResetViewPoint(true);
return UpdateGeometry();
}
bool VisualizerForAlignment::AlignWithManualAnnotation() {
const auto &source_idx = source_visualizer_.GetPickedPoints();
const auto &target_idx = target_visualizer_.GetPickedPoints();
if (source_idx.empty() || target_idx.empty() ||
source_idx.size() != target_idx.size()) {
utility::LogWarning(
"# of picked points mismatch: {:d} in source, {:d} in "
"target.",
(int)source_idx.size(), (int)target_idx.size());
return false;
}
pipelines::registration::TransformationEstimationPointToPoint p2p(
with_scaling_);
pipelines::registration::CorrespondenceSet corres;
for (size_t i = 0; i < source_idx.size(); i++) {
corres.push_back(Eigen::Vector2i(source_idx[i], target_idx[i]));
}
utility::LogInfo("Error is {:.4f} before alignment.",
p2p.ComputeRMSE(*alignment_session_.source_ptr_,
*alignment_session_.target_ptr_, corres));
transformation_ =
p2p.ComputeTransformation(*alignment_session_.source_ptr_,
*alignment_session_.target_ptr_, corres);
PrintTransformation();
*source_copy_ptr_ = *alignment_session_.source_ptr_;
source_copy_ptr_->Transform(transformation_);
utility::LogInfo("Error is {:.4f} before alignment.",
p2p.ComputeRMSE(*source_copy_ptr_,
*alignment_session_.target_ptr_, corres));
return true;
}
void VisualizerForAlignment::PrintTransformation() {
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 VisualizerForAlignment::EvaluateAlignmentAndSave(
const std::string &filename) {
// Evaluate source_copy_ptr_ and target_copy_ptr_
std::string source_filename =
utility::filesystem::GetFileNameWithoutExtension(filename) +
".source.ply";
std::string target_filename =
utility::filesystem::GetFileNameWithoutExtension(filename) +
".target.ply";
std::string source_binname =
utility::filesystem::GetFileNameWithoutExtension(filename) +
".source.bin";
std::string target_binname =
utility::filesystem::GetFileNameWithoutExtension(filename) +
".target.bin";
FILE *f;
io::WritePointCloud(source_filename, *source_copy_ptr_);
auto source_dis =
source_copy_ptr_->ComputePointCloudDistance(*target_copy_ptr_);
f = utility::filesystem::FOpen(source_binname, "wb");
if (!f) {
utility::LogError("EvaluateAlignmentAndSave: Unable to open file {}.",
source_binname);
return;
}
fwrite(source_dis.data(), sizeof(double), source_dis.size(), f);
fclose(f);
io::WritePointCloud(target_filename, *target_copy_ptr_);
auto target_dis =
target_copy_ptr_->ComputePointCloudDistance(*source_copy_ptr_);
f = utility::filesystem::FOpen(target_binname, "wb");
if (!f) {
utility::LogError("EvaluateAlignmentAndSave: Unable to open file {}.",
target_binname);
return;
}
fwrite(target_dis.data(), sizeof(double), target_dis.size(), f);
fclose(f);
}
} // namespace open3d
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