Update teaser_cpp_ply.cc

Enzo-MiMan · Jul 23, 2020 · 9aabf0d · 9aabf0d
1 parent 2c50d35
commit 9aabf0d
Showing 1 changed file with 15 additions and 56 deletions.
diff --git a/examples/teaser_cpp_ply/teaser_cpp_ply.cc b/examples/teaser_cpp_ply/teaser_cpp_ply.cc
@@ -18,63 +18,35 @@ inline double getAngularError(Eigen::Matrix3d R_exp, Eigen::Matrix3d R_est) {
   return std::abs(std::acos(fmin(fmax(((R_exp.transpose() * R_est).trace() - 1) / 2, -1.0), 1.0)));
 }
 
-void addNoiseAndOutliers(Eigen::Matrix<double, 3, Eigen::Dynamic>& tgt) {
-  // Add uniform noise
-  Eigen::Matrix<double, 3, Eigen::Dynamic> noise =
-      Eigen::Matrix<double, 3, Eigen::Dynamic>::Random(3, tgt.cols()) * NOISE_BOUND;
-  NOISE_BOUND / 2;
-  tgt = tgt + noise;
-
-  // Add outliers
-  std::random_device rd;
-  std::mt19937 gen(rd());
-  std::uniform_int_distribution<> dis2(0, tgt.cols() - 1); // pos of outliers
-  std::uniform_int_distribution<> dis3(OUTLIER_TRANSLATION_LB,
-                                       OUTLIER_TRANSLATION_UB); // random translation
-  std::vector<bool> expected_outlier_mask(tgt.cols(), false);
-  for (int i = 0; i < N_OUTLIERS; ++i) {
-    int c_outlier_idx = dis2(gen);
-    assert(c_outlier_idx < expected_outlier_mask.size());
-    expected_outlier_mask[c_outlier_idx] = true;
-    tgt.col(c_outlier_idx).array() += dis3(gen); // random translation
-  }
-}
 
 int main() {
   // Load the .ply file
   teaser::PLYReader reader;
   teaser::PointCloud src_cloud;
-  auto status = reader.read("./example_data/bun_zipper_res3.ply", src_cloud);
+  auto status = reader.read("/Users/manmi/Desktop/mm/1574955838821870584.ply", src_cloud);
   int N = src_cloud.size();
+
+  teaser::PointCloud tgt_cloud;
+  reader.read("/Users/manmi/Desktop/mm/1574955838971913886.ply", tgt_cloud);
+  int M = tgt_cloud.size();
+
+
 
   // Convert the point cloud to Eigen
   Eigen::Matrix<double, 3, Eigen::Dynamic> src(3, N);
   for (size_t i = 0; i < N; ++i) {
     src.col(i) << src_cloud[i].x, src_cloud[i].y, src_cloud[i].z;
   }
 
-  // Homogeneous coordinates
-  Eigen::Matrix<double, 4, Eigen::Dynamic> src_h;
-  src_h.resize(4, src.cols());
-  src_h.topRows(3) = src;
-  src_h.bottomRows(1) = Eigen::Matrix<double, 1, Eigen::Dynamic>::Ones(N);
-
-  // Apply an arbitrary SE(3) transformation
-  Eigen::Matrix4d T;
-  // clang-format off
-  T << 9.96926560e-01,  6.68735757e-02, -4.06664421e-02, -1.15576939e-01,
-      -6.61289946e-02, 9.97617877e-01,  1.94008687e-02, -3.87705398e-02,
-      4.18675510e-02, -1.66517807e-02,  9.98977765e-01, 1.14874890e-01,
-      0,              0,                0,              1;
-  // clang-format on
 
-  // Apply transformation
-  Eigen::Matrix<double, 4, Eigen::Dynamic> tgt_h = T * src_h;
-  Eigen::Matrix<double, 3, Eigen::Dynamic> tgt = tgt_h.topRows(3);
+  Eigen::Matrix<double, 3, Eigen::Dynamic> tgt(3, M);
+  for (size_t i = 0; i < M; ++i) {
+    tgt.col(i) << tgt_cloud[i].x, tgt_cloud[i].y, tgt_cloud[i].z;
+  }
 
-  // Add some noise & outliers
-  addNoiseAndOutliers(tgt);
 
+  std::cout << "src_cloud.size()" << std::endl;
+
   // Run TEASER++ registration
   // Prepare solver parameters
   teaser::RobustRegistrationSolver::Params params;
@@ -99,23 +71,10 @@ int main() {
   std::cout << "=====================================" << std::endl;
   std::cout << "          TEASER++ Results           " << std::endl;
   std::cout << "=====================================" << std::endl;
-  std::cout << "Expected rotation: " << std::endl;
-  std::cout << T.topLeftCorner(3, 3) << std::endl;
+
   std::cout << "Estimated rotation: " << std::endl;
   std::cout << solution.rotation << std::endl;
-  std::cout << "Error (deg): " << getAngularError(T.topLeftCorner(3, 3), solution.rotation)
-            << std::endl;
-  std::cout << std::endl;
-  std::cout << "Expected translation: " << std::endl;
-  std::cout << T.topRightCorner(3, 1) << std::endl;
+
   std::cout << "Estimated translation: " << std::endl;
   std::cout << solution.translation << std::endl;
-  std::cout << "Error (m): " << (T.topRightCorner(3, 1) - solution.translation).norm() << std::endl;
-  std::cout << std::endl;
-  std::cout << "Number of correspondences: " << N << std::endl;
-  std::cout << "Number of outliers: " << N_OUTLIERS << std::endl;
-  std::cout << "Time taken (s): "
-            << std::chrono::duration_cast<std::chrono::microseconds>(end - begin).count() /
-                   1000000.0
-            << std::endl;
 }