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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include <iostream>
#include <memory>
#include "open3d/Open3D.h"
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > EvaluatePCDMatch [options]");
utility::LogInfo(" View pairwise matching result of point clouds.");
utility::LogInfo("");
utility::LogInfo("Basic options:");
utility::LogInfo(" --help, -h : Print help information.");
utility::LogInfo(" --log file : A log file of the pairwise matching results. Must have.");
utility::LogInfo(" --gt file : A log file of the ground truth pairwise matching results. Must have.");
utility::LogInfo(" --threshold t : Distance threshold. Must have.");
utility::LogInfo(" --threshold_rmse t : Distance threshold to decide if a match is good or not. Default: 2t.");
utility::LogInfo(" --verbose n : Set verbose level (0-4). Default: 2.");
// clang-format on
}
bool ReadLogFile(const std::string &filename,
std::vector<std::pair<int, int>> &pair_ids,
std::vector<Eigen::Matrix4d> &transformations) {
using namespace open3d;
pair_ids.clear();
transformations.clear();
FILE *f = utility::filesystem::FOpen(filename, "r");
if (f == NULL) {
utility::LogWarning("Read LOG failed: unable to open file.");
return false;
}
char line_buffer[DEFAULT_IO_BUFFER_SIZE];
int i, j, k;
Eigen::Matrix4d trans;
while (fgets(line_buffer, DEFAULT_IO_BUFFER_SIZE, f)) {
if (strlen(line_buffer) > 0 && line_buffer[0] != '#') {
if (sscanf(line_buffer, "%d %d %d", &i, &j, &k) != 3) {
utility::LogWarning("Read LOG failed: unrecognized format.");
return false;
}
if (fgets(line_buffer, DEFAULT_IO_BUFFER_SIZE, f) == 0) {
utility::LogWarning("Read LOG failed: unrecognized format.");
return false;
} else {
sscanf(line_buffer, "%lf %lf %lf %lf", &trans(0, 0),
&trans(0, 1), &trans(0, 2), &trans(0, 3));
}
if (fgets(line_buffer, DEFAULT_IO_BUFFER_SIZE, f) == 0) {
utility::LogWarning("Read LOG failed: unrecognized format.");
return false;
} else {
sscanf(line_buffer, "%lf %lf %lf %lf", &trans(1, 0),
&trans(1, 1), &trans(1, 2), &trans(1, 3));
}
if (fgets(line_buffer, DEFAULT_IO_BUFFER_SIZE, f) == 0) {
utility::LogWarning("Read LOG failed: unrecognized format.");
return false;
} else {
sscanf(line_buffer, "%lf %lf %lf %lf", &trans(2, 0),
&trans(2, 1), &trans(2, 2), &trans(2, 3));
}
if (fgets(line_buffer, DEFAULT_IO_BUFFER_SIZE, f) == 0) {
utility::LogWarning("Read LOG failed: unrecognized format.");
return false;
} else {
sscanf(line_buffer, "%lf %lf %lf %lf", &trans(3, 0),
&trans(3, 1), &trans(3, 2), &trans(3, 3));
}
pair_ids.push_back(std::make_pair(i, j));
transformations.push_back(trans);
}
}
fclose(f);
return true;
}
int main(int argc, char *argv[]) {
using namespace open3d;
if (argc <= 1 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
int verbose = utility::GetProgramOptionAsInt(argc, argv, "--verbose", 5);
utility::SetVerbosityLevel((utility::VerbosityLevel)verbose);
std::string log_filename =
utility::GetProgramOptionAsString(argc, argv, "--log");
std::string gt_filename =
utility::GetProgramOptionAsString(argc, argv, "--gt");
double threshold =
utility::GetProgramOptionAsDouble(argc, argv, "--threshold");
double threshold_rmse = utility::GetProgramOptionAsDouble(
argc, argv, "--threshold_rmse", threshold * 2.0);
double threshold2 = threshold * threshold;
data::DemoICPPointClouds sample_data;
std::vector<geometry::PointCloud> pcds(sample_data.GetPaths().size());
std::vector<geometry::KDTreeFlann> kdtrees(sample_data.GetPaths().size());
for (size_t i = 0; i < sample_data.GetPaths().size(); i++) {
io::ReadPointCloud(sample_data.GetPaths()[i], pcds[i]);
kdtrees[i].SetGeometry(pcds[i]);
}
std::vector<std::pair<int, int>> pair_ids;
std::vector<Eigen::Matrix4d> transformations;
ReadLogFile(log_filename, pair_ids, transformations);
std::vector<Eigen::Matrix4d> gt_trans;
ReadLogFile(gt_filename, pair_ids, gt_trans);
double total_rmse = 0.0;
int positive = 0;
double positive_rmse = 0;
for (size_t k = 0; k < pair_ids.size(); k++) {
geometry::PointCloud source = pcds[pair_ids[k].second];
source.Transform(transformations[k]);
geometry::PointCloud gtsource = pcds[pair_ids[k].second];
gtsource.Transform(gt_trans[k]);
std::vector<int> indices(1);
std::vector<double> distance2(1);
int correspondence_num = 0;
double rmse = 0.0;
for (size_t i = 0; i < source.points_.size(); i++) {
if (kdtrees[pair_ids[k].first].SearchKNN(gtsource.points_[i], 1,
indices, distance2) > 0) {
if (distance2[0] < threshold2) {
correspondence_num++;
double new_dis =
(source.points_[i] -
pcds[pair_ids[k].first].points_[indices[0]])
.norm();
rmse += new_dis * new_dis;
}
}
}
rmse = std::sqrt(rmse / (double)correspondence_num);
utility::LogInfo("#{:d} < -- #{:d} : rmse {:.4f}", pair_ids[k].first,
pair_ids[k].second, rmse);
total_rmse += rmse;
if (rmse < threshold_rmse) {
positive++;
positive_rmse += rmse;
}
}
utility::LogInfo("Average rmse {:.8f} ({:.8f} / {:d})",
total_rmse / (double)pair_ids.size(), total_rmse,
(int)pair_ids.size());
utility::LogInfo("Average rmse of positives {:.8f} ({:.8f} / {:d})",
positive_rmse / (double)positive, positive_rmse, positive);
utility::LogInfo("Accuracy {:.2f}% ({:d} / {:d})",
(double)positive * 100.0 / (double)pair_ids.size(),
positive, (int)pair_ids.size());
return 0;
}
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