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| /** | ||
| * Copyright (c) 2024 Neka-Nat | ||
| * Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| * of this software and associated documentation files (the "Software"), to deal | ||
| * in the Software without restriction, including without limitation the rights | ||
| * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| * copies of the Software, and to permit persons to whom the Software is | ||
| * furnished to do so, subject to the following conditions: | ||
| * | ||
| * The above copyright notice and this permission notice shall be included in | ||
| * all copies or substantial portions of the Software. | ||
| * | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING | ||
| * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS | ||
| * IN THE SOFTWARE. | ||
| **/ | ||
| #include "cupoch/registration/correspondence_checker.h" | ||
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|
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| #include <Eigen/Dense> | ||
| #include <thrust/logical.h> | ||
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| #include "cupoch/geometry/pointcloud.h" | ||
| #include "cupoch/utility/console.h" | ||
|
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| namespace cupoch { | ||
| namespace registration { | ||
|
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| namespace { | ||
| struct edge_length_checker_functor { | ||
| float similarity_threshold_; | ||
| size_t corres_size_; | ||
| const Eigen::Vector3f* source_points_; | ||
| const Eigen::Vector3f* target_points_; | ||
| const Eigen::Vector2i* corres_; | ||
| edge_length_checker_functor( | ||
| float similarity_threshold, | ||
| size_t corres_size, | ||
| const Eigen::Vector3f* source_points, | ||
| const Eigen::Vector3f* target_points, | ||
| const Eigen::Vector2i* corres) | ||
| : similarity_threshold_(similarity_threshold), | ||
| corres_size_(corres_size), | ||
| source_points_(source_points), | ||
| target_points_(target_points), | ||
| corres_(corres) {} | ||
| __device__ bool operator()(int idx) { | ||
| int i = idx / corres_size_; | ||
| int j = idx % corres_size_; | ||
| if (i == j) return true; | ||
| float dis_source = (source_points_[corres_[i](0)] - source_points_[corres_[j](0)]).norm(); | ||
| float dis_target = (target_points_[corres_[i](1)] - target_points_[corres_[j](1)]).norm(); | ||
| return dis_source >= dis_target * similarity_threshold_ && | ||
| dis_target >= dis_source * similarity_threshold_; | ||
| } | ||
|
|
||
| }; | ||
|
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| struct distance_checker_functor { | ||
| float distance_threshold_; | ||
| const Eigen::Vector3f* source_points_; | ||
| const Eigen::Vector3f* target_points_; | ||
| const Eigen::Matrix4f transformation_; | ||
| distance_checker_functor( | ||
| float distance_threshold, | ||
| const Eigen::Vector3f* source_points, | ||
| const Eigen::Vector3f* target_points, | ||
| const Eigen::Matrix4f transformation) | ||
| : distance_threshold_(distance_threshold), | ||
| source_points_(source_points), | ||
| target_points_(target_points), | ||
| transformation_(transformation) {} | ||
| __device__ bool operator()(const Eigen::Vector2i& corr) { | ||
| const auto &pt = source_points_[corr(0)]; | ||
| Eigen::Vector3f pt_trans = | ||
| (transformation_ * Eigen::Vector4f(pt(0), pt(1), pt(2), 1.0)) | ||
| .block<3, 1>(0, 0); | ||
| return (target_points_[ | ||
| corr(1)] - pt_trans).norm() <= distance_threshold_; | ||
| } | ||
| }; | ||
|
|
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| struct normal_checker_functor { | ||
| float cos_normal_angle_threshold_; | ||
| const Eigen::Vector3f* source_points_; | ||
| const Eigen::Vector3f* target_points_; | ||
| const Eigen::Vector3f* source_normals_; | ||
| const Eigen::Vector3f* target_normals_; | ||
| const Eigen::Matrix4f transformation_; | ||
| normal_checker_functor( | ||
| float cos_normal_angle_threshold, | ||
| const Eigen::Vector3f* source_points, | ||
| const Eigen::Vector3f* target_points, | ||
| const Eigen::Vector3f* source_normals, | ||
| const Eigen::Vector3f* target_normals, | ||
| const Eigen::Matrix4f transformation) | ||
| : cos_normal_angle_threshold_(cos_normal_angle_threshold), | ||
| source_points_(source_points), | ||
| target_points_(target_points), | ||
| source_normals_(source_normals), | ||
| target_normals_(target_normals), | ||
| transformation_(transformation) {} | ||
| __device__ bool operator()(const Eigen::Vector2i& corr) { | ||
| const auto &normal = source_normals_[corr(0)]; | ||
| Eigen::Vector3f normal_trans = | ||
| (transformation_ * | ||
| Eigen::Vector4f(normal(0), normal(1), normal(2), 0.0)) | ||
| .block<3, 1>(0, 0); | ||
| return target_normals_[corr(1)].dot(normal) >= cos_normal_angle_threshold_; | ||
| } | ||
| }; | ||
| } | ||
|
|
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| bool CorrespondenceCheckerBasedOnEdgeLength::Check( | ||
| const geometry::PointCloud &source, | ||
| const geometry::PointCloud &target, | ||
| const CorrespondenceSet &corres, | ||
| const Eigen::Matrix4f & /*transformation*/) const { | ||
| return thrust::all_of( | ||
| thrust::make_counting_iterator<size_t>(0), | ||
| thrust::make_counting_iterator(corres.size() * corres.size()), | ||
| edge_length_checker_functor( | ||
| similarity_threshold_, | ||
| corres.size(), | ||
| thrust::raw_pointer_cast(source.points_.data()), | ||
| thrust::raw_pointer_cast(target.points_.data()), | ||
| thrust::raw_pointer_cast(corres.data()))); | ||
| } | ||
|
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| bool CorrespondenceCheckerBasedOnDistance::Check( | ||
| const geometry::PointCloud &source, | ||
| const geometry::PointCloud &target, | ||
| const CorrespondenceSet &corres, | ||
| const Eigen::Matrix4f &transformation) const { | ||
| return thrust::all_of( | ||
| corres.begin(), corres.end(), | ||
| distance_checker_functor( | ||
| distance_threshold_, | ||
| thrust::raw_pointer_cast(source.points_.data()), | ||
| thrust::raw_pointer_cast(target.points_.data()), | ||
| transformation)); | ||
| } | ||
|
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| bool CorrespondenceCheckerBasedOnNormal::Check( | ||
| const geometry::PointCloud &source, | ||
| const geometry::PointCloud &target, | ||
| const CorrespondenceSet &corres, | ||
| const Eigen::Matrix4f &transformation) const { | ||
| if (!source.HasNormals() || !target.HasNormals()) { | ||
| utility::LogWarning( | ||
| "[CorrespondenceCheckerBasedOnNormal::Check] Pointcloud has no " | ||
| "normals."); | ||
| return true; | ||
| } | ||
| float cos_normal_angle_threshold = std::cos(normal_angle_threshold_); | ||
| return thrust::all_of( | ||
| corres.begin(), corres.end(), | ||
| normal_checker_functor( | ||
| cos_normal_angle_threshold, | ||
| thrust::raw_pointer_cast(source.points_.data()), | ||
| thrust::raw_pointer_cast(target.points_.data()), | ||
| thrust::raw_pointer_cast(source.normals_.data()), | ||
| thrust::raw_pointer_cast(target.normals_.data()), | ||
| transformation)); | ||
| } | ||
|
|
||
| } // namespace registration | ||
| } // namespace cupoch |
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