WIP-ADD: add to ground truth from file + adaptations to implement small changes made to classes

Author: DamienGilliard

src/diffCheckApp.cc

@@ -9,53 +9,57 @@ int main()
 {
   // import clouds
   std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloudPtr = std::make_shared<diffCheck::geometry::DFPointCloud>();
-  std::shared_ptr<diffCheck::geometry::DFPointCloud> dfPointCloudPtrGroundTruthNoNormals = 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\04_pt.ply)";
-  std::string pathMesh = R"(C:\Users\localuser\Downloads\04_mesh.ply)";
+  std::string pathCloud = R"(C:\Users\localuser\Downloads\00_pt.ply)";
+  std::string pathMesh = R"(C:\Users\localuser\Downloads\00_mesh.ply)";
 
   dfMeshPtr->LoadFromPLY(pathMesh);
   dfPointCloudPtr->LoadFromPLY(pathCloud);
+  dfPointCloudPtrGroundTruth->LoadFromPLY(pathCloud);
+
   // add noise to dfPointCloudPtr
+  std::vector<Eigen::Vector3d> boundingBoxPoints = dfPointCloudPtr->ComputeBoundingBox();
+  double meanInterval = (boundingBoxPoints[0] - boundingBoxPoints[1]).norm();
   for (int i = 0; i < dfPointCloudPtr->Points.size(); i++)
   {
-    dfPointCloudPtr->Points[i] += Eigen::Vector3d::Random() * 0.01 ;
+    dfPointCloudPtr->Points[i] += Eigen::Vector3d::Random() * 0.002 * meanInterval;
   }
-
-  // populate the mesh with points and store it in dfPointCloudPtrGroundTruth
-  dfPointCloudPtrGroundTruthNoNormals->Cvt2DFPointCloud(dfMeshPtr->Cvt2O3DTriangleMesh()->SamplePointsUniformly(1000));
-  std::shared_ptr<open3d::geometry::PointCloud> pcd = dfPointCloudPtrGroundTruthNoNormals->Cvt2O3DPointCloud();
-  pcd->EstimateNormals();
-  dfPointCloudPtrGroundTruth->Cvt2DFPointCloud(pcd);
+  
+  // 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);
 
   // create a rigid rotation matrix
   Eigen::Matrix4d T = Eigen::Matrix4d::Identity();
-  T.block<3, 3>(0, 0) = Eigen::AngleAxisd(3, Eigen::Vector3d::UnitX()).toRotationMatrix();
-  T(0, 3) = 50;
-  T(1, 3) = -100;
-  T(2, 3) = 100;
+  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));
+
+  // 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);
 
   // test global registrations Fast and RANSAC-based
   std::vector<diffCheck::transformation::DFTransformation> registrationResults;
   diffCheck::transformation::DFTransformation transformationA =
-    diffCheck::registrations::DFGlobalRegistrations::O3DFastGlobalRegistrationFeatureMatching(dfPointCloudPtr, dfPointCloudPtrGroundTruth, true, 0.01, 1, 50, 1, 500, 500);
-  std::cout << "Fast transformation: " << transformationA.TransformationMatrix << std::flush;
+    diffCheck::registrations::DFGlobalRegistrations::O3DFastGlobalRegistrationFeatureMatching(dfPointCloudPtr, dfPointCloudPtrGroundTruth);
+  std::cout << "Fast transformation: " << transformationA.TransformationMatrix << std::endl;
   dfPointCloudPtr->ApplyTransformation(transformationA);
   registrationResults.push_back(transformationA);
   diffCheck::transformation::DFTransformation transformationB =
-    diffCheck::registrations::DFGlobalRegistrations::O3DRansacOnFeatureMatching(dfPointCloudPtrCopy, dfPointCloudPtrGroundTruth);
+    diffCheck::registrations::DFGlobalRegistrations::O3DRansacOnFeatureMatching(dfPointCloudPtrCopy, dfPointCloudPtrGroundTruthFromMesh);
   std::cout << "Ransac transformation: " << transformationB.TransformationMatrix << std::endl;
   dfPointCloudPtrCopy->ApplyTransformation(transformationB);
   registrationResults.push_back(transformationB);
 
   // visualize cloud
   std::shared_ptr<diffCheck::visualizer::Visualizer> visualizer = std::make_shared<diffCheck::visualizer::Visualizer>();
-  visualizer->AddPointCloud(dfPointCloudPtr);
   visualizer->AddPointCloud(dfPointCloudPtrCopy);
+  visualizer->AddPointCloud(dfPointCloudPtr);
   visualizer->AddMesh(dfMeshPtr);
   visualizer->Run();