From b9ddf88a6bb5b486e9c74644db370150b28a964e Mon Sep 17 00:00:00 2001 From: simonpierredeschenes Date: Fri, 19 Jan 2024 14:43:40 -0500 Subject: [PATCH 1/5] Added orientation descriptor in RigidTransformation and SimilarityTransformation compute functions. --- pointmatcher/TransformationsImpl.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pointmatcher/TransformationsImpl.cpp b/pointmatcher/TransformationsImpl.cpp index 640819fb..77b77d15 100644 --- a/pointmatcher/TransformationsImpl.cpp +++ b/pointmatcher/TransformationsImpl.cpp @@ -84,7 +84,7 @@ void TransformationsImpl::RigidTransformation::inPlaceCompute( const int descSpan(cloud.descriptorLabels[i].span); const std::string& descName(cloud.descriptorLabels[i].text); - if (descName == "normals" || descName == "observationDirections") + if (descName == "normals" || descName == "observationDirections" || descName == "orientation_x" || descName == "orientation_y" || descName == "orientation_z") { cloud.descriptors.block(descStartingRow, 0, descSpan, descCols).applyOnTheLeft(R); } @@ -214,7 +214,7 @@ void TransformationsImpl::SimilarityTransformation::inPlaceCompute( const int descSpan(cloud.descriptorLabels[i].span); const std::string& descName(cloud.descriptorLabels[i].text); - if (descName == "normals" || descName == "observationDirections") + if (descName == "normals" || descName == "observationDirections" || descName == "orientation_x" || descName == "orientation_y" || descName == "orientation_z") { cloud.descriptors.block(descStartingRow, 0, descSpan, descCols).applyOnTheLeft(R); } From a23ad30179deb6e3033b5b3e55caa7f1df7f0644 Mon Sep 17 00:00:00 2001 From: simonpierredeschenes Date: Fri, 19 Jan 2024 15:11:43 -0500 Subject: [PATCH 2/5] Added tests for trajectory with orientation descriptor. --- examples/data/trajectory.vtk | 3689 ++++++++++++++++++++++++++++++++++ utest/ui/Transformations.cpp | 107 +- 2 files changed, 3794 insertions(+), 2 deletions(-) create mode 100644 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int span(cloud.descriptorLabels[i].span); const std::string& name(cloud.descriptorLabels[i].text); - if (name == "normals" || name == "observationDirections") + if (name == "normals" || name == "observationDirections" || name == "orientation_x" || name == "orientation_y" || name == "orientation_z") { const auto transformedDescriptor = R * cloud.descriptors.block(row, 0, span, descCols); ASSERT_TRUE(transformedDescriptor.isApprox(transformedCloud.descriptors.block(row, 0, span, descCols), kEpsilonNumericalError)); @@ -299,6 +299,47 @@ TEST(Transformation, ComputeRigidTransformDataPoints2D) // } //} +TEST(Transformation, ComputeRigidTransformTrajectory3D) +{ + DP trajectory = DP::load(dataPath + "trajectory.vtk"); + std::shared_ptr transformator = PM::get().REG(Transformation).create("RigidTransformation"); + + // Identity. + { + const Eigen::Matrix translation{ 0, 0, 0 }; + const Eigen::Quaternion rotation{ 1, 0, 0, 0 }; + const Eigen::Transform transformation = buildUpTransformation3D(translation, rotation); + // Transform and assert on the result. + assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator); + } + + // Pure translation. + { + const Eigen::Matrix translation{ -1.0001, 5, -12321.234 }; + const Eigen::Quaternion rotation{ 1, 0, 0, 0 }; + const Eigen::Transform transformation = buildUpTransformation3D(translation, rotation); + // Transform and assert on the result. + assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator); + } + // Pure rotation. + { + const Eigen::Matrix translation{ 0, 0, 0 }; + const Eigen::Quaternion rotation{ 1, -5, 23, 0.5 }; + const Eigen::Transform transformation = buildUpTransformation3D(translation, rotation); + // Transform and assert on the result. + assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator); + } + // Translation + rotation. + { + const NumericType kEpsilonNumericalError = 1e-6; + const Eigen::Matrix translation{ 1, -3, -4 }; + const Eigen::Quaternion rotation{ 0, -2.54, 0, 0.5 }; + const Eigen::Transform transformation = buildUpTransformation3D(translation, rotation); + // Transform and assert on the result. + assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator, kEpsilonNumericalError); + } +} + TEST(Transformation, ComputeSimilarityTransformDataPoints2D) { std::shared_ptr transformator = PM::get().REG(Transformation).create("SimilarityTransformation"); @@ -409,7 +450,7 @@ TEST(Transformation, ComputeSimilarityTransformDataPoints2D) // // Transform and assert on the result. // assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator); // } -// // Translation + rotation + Upscaling. +// // Translation + rotation + Up scaling. // { // const NumericType kEpsilonNumericalError = 1e-6; // const Eigen::Matrix translation{ 1, -3, -4 }; @@ -420,3 +461,65 @@ TEST(Transformation, ComputeSimilarityTransformDataPoints2D) // assertOnDataPointsTransformation(data3D, transformation.matrix(), transformator, kEpsilonNumericalError); // } //} + +TEST(Transformation, ComputeSimilarityTransformTrajectory3D) +{ + DP trajectory = DP::load(dataPath + "trajectory.vtk"); + std::shared_ptr transformator = PM::get().REG(Transformation).create("SimilarityTransformation"); + + // Identity. + { + const Eigen::Matrix translation{ 0, 0, 0 }; + const Eigen::Quaternion rotation{ 1, 0, 0, 0 }; + const NumericType scale{ 1.0 }; + const Eigen::Transform transformation = buildUpTransformation3D(translation, rotation, scale); + // Transform and assert on the result. + assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator); + } + // Pure Upscaling. + { + const Eigen::Matrix translation{ 0, 0, 0 }; + const Eigen::Quaternion rotation{ 1, 0, 0, 0 }; + const NumericType scale{ 5.0 }; + const Eigen::Transform transformation = buildUpTransformation3D(translation, rotation, scale); + // Transform and assert on the result. + assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator); + } + // Pure Downscaling. + { + const Eigen::Matrix translation{ 0, 0, 0 }; + const Eigen::Quaternion rotation{ 1, 0, 0, 0 }; + const NumericType scale{ 0.1 }; + const Eigen::Transform transformation = buildUpTransformation3D(translation, rotation, scale); + // Transform and assert on the result. + assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator); + } + // Pure translation + Downscaling. + { + const Eigen::Matrix translation{ -1.0001, 5, -12321.234 }; + const Eigen::Quaternion rotation{ 1, 0, 0, 0 }; + const NumericType scale{ 0.5 }; + const Eigen::Transform transformation = buildUpTransformation3D(translation, rotation, scale); + // Transform and assert on the result. + assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator); + } + // Pure rotation + Upscaling. + { + const Eigen::Matrix translation{ 0, 0, 0 }; + const Eigen::Quaternion rotation{ 1, -5, 23, 0.5 }; + const NumericType scale{ 1.9 }; + const Eigen::Transform transformation = buildUpTransformation3D(translation, rotation, scale); + // Transform and assert on the result. + assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator); + } + // Translation + rotation + Upscaling. + { + const NumericType kEpsilonNumericalError = 1e-6; + const Eigen::Matrix translation{ 1, -3, -4 }; + const Eigen::Quaternion rotation{ 0, -2.54, 0, 0.5 }; + const NumericType scale{ 1.9 }; + const Eigen::Transform transformation = buildUpTransformation3D(translation, rotation, scale); + // Transform and assert on the result. + assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator, kEpsilonNumericalError); + } +} From aefbd2fb8e63dad7ffa0d4a4cac6f2a7f4671f49 Mon Sep 17 00:00:00 2001 From: simonpierredeschenes Date: Wed, 24 Jan 2024 17:40:39 -0500 Subject: [PATCH 3/5] Changed orientation descriptor name to camel case. --- examples/data/trajectory.vtk | 6 +++--- pointmatcher/TransformationsImpl.cpp | 4 ++-- utest/ui/Transformations.cpp | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/examples/data/trajectory.vtk b/examples/data/trajectory.vtk index 9abf1e65..fde72237 100644 --- a/examples/data/trajectory.vtk +++ b/examples/data/trajectory.vtk @@ -1055,7 +1055,7 @@ VERTICES 525 1050 1 523 1 524 POINT_DATA 525 -VECTORS orientation_x float +VECTORS orientationX float 1 0 0 1 -0.000838888 -5.52684e-05 0.999998 -0.00198224 -8.6945e-05 @@ -1581,7 +1581,7 @@ VECTORS orientation_x float -0.968369 0.24074 -0.0656241 -0.968223 0.241314 -0.0656694 -0.96831 0.240919 -0.0658378 -VECTORS orientation_y float +VECTORS orientationY float 0 1 0 0.000838883 1 4.14982e-05 0.0019823 0.999998 7.37674e-05 @@ -2107,7 +2107,7 @@ VECTORS orientation_y float -0.243524 -0.969141 0.0382471 -0.2441 -0.968996 0.0382385 -0.243732 -0.969075 0.0385757 -VECTORS orientation_z float +VECTORS orientationZ float 0 0 1 5.52362e-05 -4.15401e-05 1 8.67953e-05 -7.3948e-05 1 diff --git a/pointmatcher/TransformationsImpl.cpp b/pointmatcher/TransformationsImpl.cpp index 77b77d15..aec56cbf 100644 --- a/pointmatcher/TransformationsImpl.cpp +++ b/pointmatcher/TransformationsImpl.cpp @@ -84,7 +84,7 @@ void TransformationsImpl::RigidTransformation::inPlaceCompute( const int descSpan(cloud.descriptorLabels[i].span); const std::string& descName(cloud.descriptorLabels[i].text); - if (descName == "normals" || descName == "observationDirections" || descName == "orientation_x" || descName == "orientation_y" || descName == "orientation_z") + if (descName == "normals" || descName == "observationDirections" || descName == "orientationX" || descName == "orientationY" || descName == "orientationZ") { cloud.descriptors.block(descStartingRow, 0, descSpan, descCols).applyOnTheLeft(R); } @@ -214,7 +214,7 @@ void TransformationsImpl::SimilarityTransformation::inPlaceCompute( const int descSpan(cloud.descriptorLabels[i].span); const std::string& descName(cloud.descriptorLabels[i].text); - if (descName == "normals" || descName == "observationDirections" || descName == "orientation_x" || descName == "orientation_y" || descName == "orientation_z") + if (descName == "normals" || descName == "observationDirections" || descName == "orientationX" || descName == "orientationY" || descName == "orientationZ") { cloud.descriptors.block(descStartingRow, 0, descSpan, descCols).applyOnTheLeft(R); } diff --git a/utest/ui/Transformations.cpp b/utest/ui/Transformations.cpp index 53164272..dd454eb7 100644 --- a/utest/ui/Transformations.cpp +++ b/utest/ui/Transformations.cpp @@ -48,7 +48,7 @@ static inline void assertOnDataPointsTransformation(const PM::DataPoints& cloud, { const int span(cloud.descriptorLabels[i].span); const std::string& name(cloud.descriptorLabels[i].text); - if (name == "normals" || name == "observationDirections" || name == "orientation_x" || name == "orientation_y" || name == "orientation_z") + if (name == "normals" || name == "observationDirections" || name == "orientationX" || name == "orientationY" || name == "orientationZ") { const auto transformedDescriptor = R * cloud.descriptors.block(row, 0, span, descCols); ASSERT_TRUE(transformedDescriptor.isApprox(transformedCloud.descriptors.block(row, 0, span, descCols), kEpsilonNumericalError)); From 610eecdf77d5d91475fbb76ff0fe21b21a25cb89 Mon Sep 17 00:00:00 2001 From: boxanm Date: Wed, 31 Jan 2024 16:19:06 -0500 Subject: [PATCH 4/5] Add description to CMake project --- CMakeLists.txt | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index d8e4e01a..6f3dece5 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,7 +28,9 @@ string(REGEX REPLACE ".*\"(.*)\".*" "\\1" POINTMATCHER_PROJECT_VERSION "${POINTM # In 3.0+, project(...) should specify VERSION to satisfy CMP0048 cmake_policy(SET CMP0048 NEW) -project(libpointmatcher VERSION ${POINTMATCHER_PROJECT_VERSION}) +project(libpointmatcher VERSION ${POINTMATCHER_PROJECT_VERSION} + DESCRIPTION "libpointmatcher is a modular library implementing the Iterative Closest Point (ICP) algorithm for aligning point clouds" + LANGUAGES CXX) set(CMAKE_DEBUG_POSTFIX "d") From 79dda58d47404cbf3dd0c57a651129eb741abacd Mon Sep 17 00:00:00 2001 From: boxanm Date: Tue, 27 Feb 2024 11:41:02 -0500 Subject: [PATCH 5/5] Set numeric error epsilon value for ComputeSimilarityTransformTrajectory3D for rotations to 1e-6 --- utest/ui/Transformations.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/utest/ui/Transformations.cpp b/utest/ui/Transformations.cpp index 8cec6388..068da343 100644 --- a/utest/ui/Transformations.cpp +++ b/utest/ui/Transformations.cpp @@ -465,16 +465,15 @@ TEST(Transformation, ComputeSimilarityTransformTrajectory3D) const NumericType scale{ 1.9 }; const Eigen::Transform transformation = buildUpTransformation3D(translation, rotation, scale); // Transform and assert on the result. - assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator); + assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator, 1e-6); } // Translation + rotation + Upscaling. { - const NumericType kEpsilonNumericalError = 1e-6; const Eigen::Matrix translation{ 1, -3, -4 }; const Eigen::Quaternion rotation{ 0, -2.54, 0, 0.5 }; const NumericType scale{ 1.9 }; const Eigen::Transform transformation = buildUpTransformation3D(translation, rotation, scale); // Transform and assert on the result. - assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator, kEpsilonNumericalError); + assertOnDataPointsTransformation(trajectory, transformation.matrix(), transformator, 1e-6); } }