implement registration

try running simple wsl-command fails
add Ply-File export
change build-target to x64 (for wsl)

PointCloudWeb.Server/PointCloudWeb.Server.ScanConverter/PointCloudWeb.Server.ScanConverter.csproj

@@ -5,6 +5,14 @@
     <TargetFramework>netcoreapp3.1</TargetFramework>
   </PropertyGroup>
 
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|AnyCPU'">
+    <PlatformTarget>x64</PlatformTarget>
+  </PropertyGroup>
+
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|AnyCPU'">
+    <PlatformTarget>x64</PlatformTarget>
+  </PropertyGroup>
+
   <ItemGroup>
     <ProjectReference Include="..\PointCloudWeb.Server\PointCloudWeb.Server.csproj" />
   </ItemGroup>

PointCloudWeb.Server/PointCloudWeb.Server.Tests/PointCloudWeb.Server.Tests.csproj

@@ -6,6 +6,14 @@
     <IsPackable>false</IsPackable>
   </PropertyGroup>
 
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|AnyCPU'">
+    <PlatformTarget>x64</PlatformTarget>
+  </PropertyGroup>
+
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|AnyCPU'">
+    <PlatformTarget>x64</PlatformTarget>
+  </PropertyGroup>
+  
   <ItemGroup>
     <PackageReference Include="Microsoft.NET.Test.Sdk" Version="16.9.4" />
     <PackageReference Include="xunit" Version="2.4.1" />

PointCloudWeb.Server/PointCloudWeb.Server/Globals.cs

@@ -1,4 +1,5 @@
-using System.IO;
+using System;
+using System.IO;
 
 namespace PointCloudWeb.Server
 {
@@ -12,12 +13,24 @@ namespace PointCloudWeb.Server
             TempPath = basePath + "/temp";
             CloudCompareExe = "C:/Program Files/CloudCompare/CloudCompare.exe";
             LasToolsTxt2Las = basePath + "/PointCloudWeb.Server/Tools/LAStools/txt2las.exe";
+            TeaserPp = basePath + "/PointCloudWeb.Server/Tools/TEASERpp/build/teaser_cpp_ply";
         }
 
+
         public static string LasToolsTxt2Las { get; }
         public static string PotreeDataPath { get; }
         public static string PotreeConverterExe { get; }
         public static string TempPath { get; }
         public static string CloudCompareExe { get; }
+        public static string TeaserPp { get; }
+
+        public static string ToWslPath(string path)
+        {
+            path = path.Replace("\\", "/");
+            if (path.StartsWith("C:"))
+                return path.Replace("C:", "/mnt/c");
+
+            throw new NotImplementedException();
+        }
     }
 }

PointCloudWeb.Server/PointCloudWeb.Server/Models/PointCloud.cs

@@ -63,12 +63,20 @@ namespace PointCloudWeb.Server.Models
         public string ToStringXyz()
         {
             var stringBuilder = new StringBuilder();
-            foreach (var point in Points)
+
+            // var maxPoints = 5_000;
+
+            var takeEvery = 1;//Points.Count / maxPoints;
+
+            for (var i = 0; i < Points.Count; i++)
             {
+                if (i % takeEvery != 0)
+                    continue;
+                var point = Points[i];
                 stringBuilder.AppendLine(string.Join(',',
-                        (point.X).ToString(CultureInfo.InvariantCulture),
+                        point.X.ToString(CultureInfo.InvariantCulture),
-                        (point.Y).ToString(CultureInfo.InvariantCulture),
+                        point.Y.ToString(CultureInfo.InvariantCulture),
-                        (point.Z).ToString(CultureInfo.InvariantCulture)
+                        point.Z.ToString(CultureInfo.InvariantCulture)
                     )
                 );
             }
@@ -76,12 +84,55 @@ namespace PointCloudWeb.Server.Models
             return stringBuilder.ToString();
         }
 
+        private string ToStringPly(int maxPoints)
+        {
+            var stringBuilder = new StringBuilder();
+            stringBuilder.Append("ply\n");
+            stringBuilder.Append("format ascii 1.0\n");
+
+            stringBuilder.Append($"element vertex COUNT_PLACEHOLDER {Points.Count}\n");
+            stringBuilder.Append("property float x\n");
+            stringBuilder.Append("property float y\n");
+            stringBuilder.Append("property float z\n");
+            stringBuilder.Append("end_header\n");
+
+            if (maxPoints == 0)
+                maxPoints = Points.Count;
+
+            var takeEvery = Points.Count / maxPoints;
+            var count = 0;
+
+            for (var i = 0; i < Points.Count; i++)
+            {
+                if (i % takeEvery != 0)
+                    continue;
+                count += 1;
+                var point = Points[i];
+                stringBuilder.Append(string.Join(' ',
+                        point.X,
+                        point.Y,
+                        point.Z
+                    ) + "\n"
+                );
+            }
+
+            stringBuilder.Replace("COUNT_PLACEHOLDER", count.ToString());
+
+            return stringBuilder.ToString();
+        }
+
         // ReSharper disable once MemberCanBePrivate.Global
         public void WriteToXyz(string fileName)
         {
             File.WriteAllText(fileName, ToStringXyz());
         }
 
+        // ReSharper disable once MemberCanBePrivate.Global
+        public void WriteToPly(string fileName, int maxPoints)
+        {
+            File.WriteAllText(fileName, ToStringPly(maxPoints));
+        }
+
         public void WriteToLasCloudCompare(string fileName)
         {
             var fileNameXyz = Path.ChangeExtension(fileName, ".xyz");

PointCloudWeb.Server/PointCloudWeb.Server/PointCloudWeb.Server.csproj

@@ -4,6 +4,14 @@
     <TargetFramework>netcoreapp3.1</TargetFramework>
   </PropertyGroup>
 
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|AnyCPU'">
+    <PlatformTarget>x64</PlatformTarget>
+  </PropertyGroup>
+
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|AnyCPU'">
+    <PlatformTarget>x64</PlatformTarget>
+  </PropertyGroup>
+
   <ItemGroup>
     <PackageReference Include="Microsoft.AspNetCore.Mvc.Abstractions" Version="2.2.0" />
   </ItemGroup>

PointCloudWeb.Server/PointCloudWeb.Server/Services/IPointCloudRegistrationService.cs

@@ -3,8 +3,19 @@ using System.Numerics;
 
 namespace PointCloudWeb.Server.Services
 {
-    public interface IPointCloudRegistationService
+    public class RegistrationResult
     {
-        public Matrix4x4 RegisterPointCloud(PointCloud source, PointCloud target);
+        public RegistrationResult()
+        {
+            Transformation = Vector3.Zero;
+            Rotation = Vector3.Zero;
+        }
+        
+        public Vector3 Transformation { get; set; }
+        public Vector3 Rotation { get; set; }
+    }
+    public interface IPointCloudRegistrationService
+    {
+        public RegistrationResult RegisterPointCloud(PointCloud source, PointCloud target);
     }
 }

PointCloudWeb.Server/PointCloudWeb.Server/Services/PointCloudRegistrationServiceTeaerPp.cs

@@ -0,0 +1,46 @@
+using System;
+using System.Diagnostics;
+using System.Linq;
+using PointCloudWeb.Server.Models;
+
+namespace PointCloudWeb.Server.Services
+{
+    public class PointCloudRegistrationServiceTeaerPp : IPointCloudRegistrationService
+    {
+        public RegistrationResult RegisterPointCloud(PointCloud source, PointCloud target)
+        {
+            var sourceFileName = Globals.TempPath + $"/{source.Id}.ply";
+            var targetFileName = Globals.TempPath + $"/{target.Id}.ply";
+
+            var maxPoints = 5_000;
+
+            source.WriteToPly(sourceFileName, maxPoints);
+            target.WriteToPly(targetFileName, maxPoints);
+
+            var teaserPp = new Process();
+            teaserPp.StartInfo.FileName = "C:\\Windows\\System32\\wsl.exe";
+            // teaserPp.StartInfo.FileName = "wsl";
+            teaserPp.StartInfo.Arguments = "curl https://www.google.de";
+            // teaserPp.StartInfo.Arguments = $"\"{sourceFileName}\" \"{targetFileName}\"";
+            //teaserPp.StartInfo.Arguments = $" ls "; //{Globals.ToWslPath(Globals.TeaserPp)} ";// +
+            //"\"/mnt/c/Users/timwu/source/repos/PointCloudWeb/PointCloudWeb.Server/Tools/TEASERpp/c4b9b7fc-0b97-4f52-ad1b-737aeca5ba97.ply\" " +
+            //"\"/mnt/c/Users/timwu/source/repos/PointCloudWeb/PointCloudWeb.Server/Tools/TEASERpp/c620b175-ace8-42e5-bf29-55b6c99372bc.ply\" ";
+            
+            teaserPp.StartInfo.RedirectStandardOutput = true;
+            teaserPp.Start();
+
+
+            var output = teaserPp.StandardOutput.ReadToEnd();
+            Console.WriteLine(output[..Math.Min(output.Length, 100)]);
+            
+            
+            teaserPp.WaitForExit();
+
+            Console.WriteLine($"RegistrationExitCode: {teaserPp.ExitCode}");
+
+            var result = new RegistrationResult();
+
+            return result;
+        }
+    }
+}

PointCloudWeb.Server/PointCloudWeb.Server/Services/PointCloudService.cs

@@ -2,7 +2,6 @@ using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 using System.IO;
-using System.Numerics;
 using PointCloudWeb.Server.Models;
 using PointCloudWeb.Server.Utils;
 
@@ -10,13 +9,13 @@ namespace PointCloudWeb.Server.Services
 {
     public class PointCloudService
     {
-        //private readonly IPointCloudRegistrationService pointCloudRegistration;
+        private readonly IPointCloudRegistrationService _pointCloudRegistration;
         private readonly PointCloudCollection _pointClouds;
 
-        public PointCloudService( /*IPointCloudRegistrationService pointCloudRegistration*/)
+        public PointCloudService( IPointCloudRegistrationService pointCloudRegistration)
         {
             _pointClouds = new PointCloudCollection();
-            //this.pointCloudRegistration = pointCloudRegistration;
+            _pointCloudRegistration = pointCloudRegistration;
             InitSampleData();
         }
 
@@ -78,17 +77,18 @@ namespace PointCloudWeb.Server.Services
         {
             RaiseIfNotExists(id);
 
-            var pc = GetById(id);
+            var source = GetById(id);
             
-            pc.Transformation = Vector3.Zero;
+            //the first can't be registered
-            pc.Rotation = Vector3.Zero;
+            if (_pointClouds.IndexOf(source) == 0)
+                return;
             
-            // //the first can't be registered
+            var target = _pointClouds[_pointClouds.IndexOf(source) - 1];
-            // if (_pointClouds.IndexOf(pointCloud) == 0)
-            //     return;
 
-            //var transformation = pointCloudRegistration.RegisterPointCloud(pointCloud, pointClouds[0]);
+            var result = _pointCloudRegistration.RegisterPointCloud(source, target);
-            //pointCloud.Transformation = transformation;
+            
+            source.Rotation = result.Rotation;
+            source.Transformation = result.Transformation;
         }
 
         public void RegisterPointClouds()

PointCloudWeb.Server/PointCloudWeb.Server/Startup.cs

@@ -51,6 +51,7 @@ namespace PointCloudWeb.Server
             services.AddSingleton<PointCloudService>();
             services.AddTransient<ScanConverterService>();
             services.AddTransient<ScanDataService>();
+            services.AddTransient<IPointCloudRegistrationService, PointCloudRegistrationServiceTeaerPp>();
             services.AddControllers();
         }
     }

PointCloudWeb.Server/PointCloudWeb.Server/Utils/EthTestData.cs

@@ -37,11 +37,11 @@ namespace PointCloudWeb.Server.Utils
 
         public static void CreateData(PointCloudService pointCloudService)
         {
-            var pc = pointCloudService.AddPointCloud();
+            var pc = pointCloudService.AddPointCloud(new Guid("c4b9b7fc-0b97-4f52-ad1b-737aeca5ba97"));
             LoadPointCloudFromEthFile(pc, "ETH-Data/Hokuyo_0.csv");
             pointCloudService.PointCloudCompleted(pc.Id);
 
-            pc = pointCloudService.AddPointCloud();
+            pc = pointCloudService.AddPointCloud(new Guid("c620b175-ace8-42e5-bf29-55b6c99372bc"));
             LoadPointCloudFromEthFile(pc, "ETH-Data/Hokuyo_1.csv");
             pointCloudService.PointCloudCompleted(pc.Id);
         }

PointCloudWeb.Server/Tools/TEASERpp/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.10)
 project(teaser_cpp_ply)
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 
 find_package(Eigen3 REQUIRED)
 find_package(teaserpp REQUIRED)

PointCloudWeb.Server/Tools/TEASERpp/README.md

@@ -0,0 +1,3 @@
+`bun_zipper.ply` is taken from the [Stanford 3D Scanning Repository](https://graphics.stanford.edu/data/3Dscanrep/).
+
+In the `3dmatch_sample/` folder, a pair of scan from the `sun3d-home_at-home_at_scan1_2013_jan_1` scene in the 3DMatch dataset is provided. Descriptors calculated by using the `32_dim` pretrained network from [3DSmoothNet](https://github.com/zgojcic/3DSmoothNet) is also provided, together with the ground truth transformation.

PointCloudWeb.Server/Tools/TEASERpp/teaser_cpp_ply.cc

@@ -1,7 +1,9 @@
 // An example showing TEASER++ registration with the Stanford bunny model
 #include <chrono>
 #include <iostream>
+#include <fstream>
 #include <random>
+#include <filesystem>
 
 #include <Eigen/Core>
 
@@ -10,70 +12,50 @@
 
 // Macro constants for generating noise and outliers
 #define NOISE_BOUND 0.05
-#define N_OUTLIERS 1700
+// #define N_OUTLIERS 1700
-#define OUTLIER_TRANSLATION_LB 5
+// #define OUTLIER_TRANSLATION_LB 5
-#define OUTLIER_TRANSLATION_UB 10
+// #define OUTLIER_TRANSLATION_UB 10
 
-inline double getAngularError(Eigen::Matrix3d R_exp, Eigen::Matrix3d R_est) {
+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) {
+int main(int argc, char **argv)
-  // Add uniform noise
+{
-  Eigen::Matrix<double, 3, Eigen::Dynamic> noise =
+  std::cout << "You have entered " << argc
-      Eigen::Matrix<double, 3, Eigen::Dynamic>::Random(3, tgt.cols()) * NOISE_BOUND;
+            << " arguments:"
-  NOISE_BOUND / 2;
+            << "\n";
-  tgt = tgt + noise;
 
-  // Add outliers
+  for (int i = 0; i < argc; ++i)
-  std::random_device rd;
+    std::cout << argv[i] << "\n";
-  std::mt19937 gen(rd());
+
-  std::uniform_int_distribution<> dis2(0, tgt.cols() - 1); // pos of outliers
+  auto src_fileName = argv[1];
-  std::uniform_int_distribution<> dis3(OUTLIER_TRANSLATION_LB,
+  auto tgt_fileName = argv[2];
-                                       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(src_fileName, src_cloud);
-  int N = src_cloud.size();
+  int src_cloud_size = src_cloud.size();
 
   // Convert the point cloud to Eigen
-  Eigen::Matrix<double, 3, Eigen::Dynamic> src(3, N);
+  Eigen::Matrix<double, 3, Eigen::Dynamic> src(3, src_cloud_size);
-  for (size_t i = 0; i < N; ++i) {
+  for (size_t i = 0; i < src_cloud_size; ++i)
+  {
     src.col(i) << src_cloud[i].x, src_cloud[i].y, src_cloud[i].z;
   }
 
-  // Homogeneous coordinates
+  teaser::PointCloud tgt_cloud;
-  Eigen::Matrix<double, 4, Eigen::Dynamic> src_h;
+  status = reader.read(tgt_fileName, tgt_cloud);
-  src_h.resize(4, src.cols());
+  int tgt_cloud_size = tgt_cloud.size();
-  src_h.topRows(3) = src;
-  src_h.bottomRows(1) = Eigen::Matrix<double, 1, Eigen::Dynamic>::Ones(N);
 
-  // Apply an arbitrary SE(3) transformation
+  // Convert the point cloud to Eigen
-  Eigen::Matrix4d T;
+  Eigen::Matrix<double, 3, Eigen::Dynamic> tgt(3, tgt_cloud_size);
-  // clang-format off
+  for (size_t i = 0; i < tgt_cloud_size; ++i)
-  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,
+    tgt.col(i) << tgt_cloud[i].x, tgt_cloud[i].y, tgt_cloud[i].z;
-      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);
-
-  // Add some noise & outliers
-  addNoiseAndOutliers(tgt);
 
   // Run TEASER++ registration
   // Prepare solver parameters
@@ -99,21 +81,12 @@ 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