ADD: pipeline for overlapping point clouds

Author: DamienGilliard

src/diffCheckApp.cc

@@ -9,15 +9,22 @@ int main()
 {
   // import clouds
   std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloudPtr = std::make_shared<diffCheck::geometry::DFPointCloud>();
+  std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloudPtr_1 = std::make_shared<diffCheck::geometry::DFPointCloud>();
+  std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloudPtr_2 = std::make_shared<diffCheck::geometry::DFPointCloud>();
+  std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloudPtrWithoutNormals = std::make_shared<diffCheck::geometry::DFPointCloud>();
   std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloudPtrGroundTruth = std::make_shared<diffCheck::geometry::DFPointCloud>();
   std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloudPtrGroundTruthFromMesh = std::make_shared<diffCheck::geometry::DFPointCloud>();
   std::shared_ptr<diffCheck::geometry::DFMesh> dfMeshPtr = std::make_shared<diffCheck::geometry::DFMesh>();
 
-  std::string pathCloud = R"(C:\Users\localuser\Downloads\00_pt.ply)";
-  std::string pathMesh = R"(C:\Users\localuser\Downloads\00_mesh.ply)";
+  std::string pathCloud = R"(C:\Users\localuser\Downloads\04_pt.ply)";
+  std::string pathCloud_1 = R"(C:\Users\localuser\Downloads\part_1_module.ply)";
+  std::string pathCloud_2 = R"(C:\Users\localuser\Downloads\part_2_module.ply)";
+  std::string pathMesh = R"(C:\Users\localuser\Downloads\04_mesh.ply)";
 
   dfMeshPtr->LoadFromPLY(pathMesh);
   dfPointCloudPtr->LoadFromPLY(pathCloud);
+  dfPointCloudPtr_1->LoadFromPLY(pathCloud_1);
+  dfPointCloudPtr_2->LoadFromPLY(pathCloud_2);
   dfPointCloudPtrGroundTruth->LoadFromPLY(pathCloud);
 
   // add noise to dfPointCloudPtr
@@ -27,40 +34,47 @@ int main()
   {
     dfPointCloudPtr->Points[i] += Eigen::Vector3d::Random() * 0.002 * meanInterval;
   }
+
+  std::shared_ptr<open3d::geometry::PointCloud> pcd_1 = dfPointCloudPtr->Cvt2O3DPointCloud();
+  if (pcd_1->normals_.size() > 0)
+  {
+    pcd_1->normals_.clear();
+  }
+  dfPointCloudPtrWithoutNormals->Cvt2DFPointCloud(pcd_1);
 
   // populate the mesh with points and store it in dfPointCloudPtrGroundTruthFromMesh
-  std::shared_ptr<open3d::geometry::PointCloud> pcd_1 = dfMeshPtr->Cvt2O3DTriangleMesh()->SamplePointsUniformly(50000);
-  dfPointCloudPtrGroundTruthFromMesh->Cvt2DFPointCloud(pcd_1);
+  std::shared_ptr<open3d::geometry::PointCloud> pcd_2 = dfMeshPtr->Cvt2O3DTriangleMesh()->SamplePointsUniformly(50000);
+  dfPointCloudPtrGroundTruthFromMesh->Cvt2DFPointCloud(pcd_2);
 
   // create a rigid rotation matrix
   Eigen::Matrix4d T = Eigen::Matrix4d::Identity();
   T.block<3, 3>(0, 0) = Eigen::AngleAxisd(1.57, Eigen::Vector3d::UnitX()).toRotationMatrix();
-  T(0, 3) = 5;
-  T(1, 3) = -10;
-  T(2, 3) = 10;
-  dfPointCloudPtr->ApplyTransformation(diffCheck::transformation::DFTransformation(T));
+  T(0, 3) = 50;
+  T(1, 3) = -100;
+  T(2, 3) = 100;
+  dfPointCloudPtrWithoutNormals->ApplyTransformation(diffCheck::transformation::DFTransformation(T));
 
   // create a copy of the point cloud so we can test both global registrations
-  std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloudPtrCopy = std::make_shared<diffCheck::geometry::DFPointCloud>(*dfPointCloudPtr);
+  std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloudPtrCopy = std::make_shared<diffCheck::geometry::DFPointCloud>(*dfPointCloudPtrWithoutNormals);
 
   // test global registrations Fast and RANSAC-based
   std::vector<diffCheck::transformation::DFTransformation> registrationResults;
   diffCheck::transformation::DFTransformation transformationA =
-    diffCheck::registrations::DFGlobalRegistrations::O3DFastGlobalRegistrationFeatureMatching(dfPointCloudPtr, dfPointCloudPtrGroundTruth);
+    diffCheck::registrations::DFGlobalRegistrations::O3DFastGlobalRegistrationFeatureMatching(dfPointCloudPtr_1, dfPointCloudPtr_2);
   std::cout << "Fast transformation: " << transformationA.TransformationMatrix << std::endl;
-  dfPointCloudPtr->ApplyTransformation(transformationA);
+  //dfPointCloudPtr_1->ApplyTransformation(transformationA);
   registrationResults.push_back(transformationA);
   diffCheck::transformation::DFTransformation transformationB =
-    diffCheck::registrations::DFGlobalRegistrations::O3DRansacOnFeatureMatching(dfPointCloudPtrCopy, dfPointCloudPtrGroundTruthFromMesh);
+    diffCheck::registrations::DFGlobalRegistrations::O3DRansacOnFeatureMatching(dfPointCloudPtr_1, dfPointCloudPtr_2);
   std::cout << "Ransac transformation: " << transformationB.TransformationMatrix << std::endl;
-  dfPointCloudPtrCopy->ApplyTransformation(transformationB);
+  dfPointCloudPtr_1->ApplyTransformation(transformationB);
   registrationResults.push_back(transformationB);
 
   // visualize cloud
   std::shared_ptr<diffCheck::visualizer::Visualizer> visualizer = std::make_shared<diffCheck::visualizer::Visualizer>();
-  visualizer->AddPointCloud(dfPointCloudPtrCopy);
-  visualizer->AddPointCloud(dfPointCloudPtr);
-  visualizer->AddMesh(dfMeshPtr);
+  visualizer->AddPointCloud(dfPointCloudPtr_1);
+  visualizer->AddPointCloud(dfPointCloudPtr_2);
+  // visualizer->AddMesh(dfMeshPtr);
   visualizer->Run();
 
   return 0;