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clickedToFindEdges.m
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clickedToFindEdges.m
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%{
* Copyright (C) 2020-2030, The Regents of The University of Michigan.
* All rights reserved.
* This software was developed in the Biped Lab (https://www.biped.solutions/)
* under the direction of Jessy Grizzle, [email protected]. This software may
* be available under alternative licensing terms; contact the address above.
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* The views and conclusions contained in the software and documentation are those
* of the authors and should not be interpreted as representing official policies,
* either expressed or implied, of the Regents of The University of Michigan.
*
* AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
* WEBSITE: https://www.brucerobot.com/
%}
function [Uc, meanClean, LEupper, LElower, REupper, RElower, PayLoadClean, PayLoadClean2D] = clickedToFindEdges(base_line, pnts, d, ExpNmbr)
% pnts is the pioint cloud structure that Bruce builds up
%U as in [U,S,V] to determined the normal to the pointcloud.
%U(:,3) is the normal to the point cloud
% center is the mean of the pointcould
% center + U*[0;y;z] puts a point back in teh coordinates of the pointcloud
%
%
%LE = ([y;z] corrdinates) x Rings x scans
%RE = ([y;z] corrdinates) x Rings x scans
%LEavg = (2-(y,z) corrdinates) x Rings because the values are averaged
%over all scans
%REavg = (2-(y,z) corrdinates) x Rings because the values are averaged
%over all scans
%Rings is the list of rings in LE and RE
%RingsAvg is the list of rings in LEavg REavg
%
if nargin < 4
ExpNmbr=1;
end
%% Select Scans to use for computing the SVD
%IndScans=[5:10]; % Selected Scans
%IndScans=[40:120]; % Selected Scans
% IndScans=[20:40]; % Selected Scans
if isfield(base_line,'pc_iter') && isfield(base_line, 'num_scan')
IndScans=[base_line.pc_iter:base_line.pc_iter + base_line.num_scan]; % Selected Scans
else
IndScans=[1:20];
end
%IndScans=[50:100]; % Selected Scans
%IndScans=[50:150]; % Selected Scans
%
%% Place data in a form where rings and scans are identified
[n1,~,~]=size(pnts);
PayLoad=[];
n1 = IndScans(end);
for i1=1:n1
points = pnts(i1,:,:);
payload = (reshape(points, size(points, 2),[]))';
RingNotZero=find(payload(5,:)>0);
payload=payload(:,RingNotZero);
[~,n3]=size(payload);
payload=[payload;i1*ones(1,n3);ExpNmbr*ones(1,n3)];
if min(payload(1,:)) > 0
PayLoad=[PayLoad,payload];
end
% payload(1,:) : x
% payload(2,:) : y
% payload(3,:) : z
% payload(4,:) : I
% payload(5,:) : R
% payload(6,:) : scan
% payload(7,:) : ExpNmbr
end
%% Find Rings
FR=min(PayLoad(5,:));
LR=max(PayLoad(5,:));
RingNumbers=[];
for i=FR:LR
K=find(PayLoad(5,:)==i);
if length(K)>0
RingNumbers=[RingNumbers,i];
end
end
if base_line.show_results
current_img_handle = base_line.img_hangles(1);
hold(current_img_handle, 'on');
for i = 1:LR
ring_points = PayLoad(:, (PayLoad(5, :)==i));
if size(ring_points, 2) > 0
scatter3(current_img_handle, ring_points(1,:), ring_points(2,:), ring_points(3,:), '.'),
view(current_img_handle, -90,3)
txt_x = mean(ring_points(1, :));
txt_y = mean(ring_points(2, :));
txt_z = mean(ring_points(3, :));
text(current_img_handle, txt_x, txt_y, txt_z, num2str(i))
end
end
set(get(current_img_handle, 'parent'),'visible','on');% show the current axes
axis(current_img_handle, 'equal')
xlabel(current_img_handle, 'x')
ylabel(current_img_handle, 'y')
zlabel(current_img_handle, 'z')
title(current_img_handle, 'Original Data')
hold(current_img_handle, 'off');
end
%% Clean Data
meanData=mean(PayLoad(1:3,:),2);
error=abs(PayLoad(1:3,:)-meanData);
distance=sum(error,1);
K=find(distance < d*1.025);
PayLoadClean=PayLoad(:, K);
meanClean=mean(PayLoadClean(1:3,:),2);
if base_line.L1_cleanup
opt.H_TL.rpy_init = [45 2 3];
opt.H_TL.T_init = [2, 0, 0];
opt.H_TL.H_init = eye(4);
opt.H_TL.method = "Constraint Customize";
opt.H_TL.UseCentroid = 1;
[~, ~, clean_up_indices, ~] = cleanLiDARTargetWithOneDataSetWithIndices(PayLoadClean, d/sqrt(2), opt.H_TL);
PayLoadClean=PayLoad(:, clean_up_indices);
end
% Check for entire rings being removed
FirstRing=min(PayLoadClean(5,:));
LastRing=max(PayLoadClean(5,:));
RingNumbers=[FirstRing:1:LastRing];
NRings=length(RingNumbers);
if base_line.show_results
current_img_handle = base_line.img_hangles(2);
hold(current_img_handle, 'on');
scatter3(current_img_handle, PayLoadClean(1,:), PayLoadClean(2,:), PayLoadClean(3,:), '.')
view(current_img_handle, -90,3)
axis(current_img_handle, 'equal')
xlabel(current_img_handle, 'x')
ylabel(current_img_handle, 'y')
zlabel(current_img_handle, 'z')
title(current_img_handle, 'Cleaned Up Data')
hold(current_img_handle, 'off');
set(get(current_img_handle, 'parent'),'visible','on');% show the current axes
end
%% Build a projection to a plane that will be used to find Edge Data
K=find( and(( PayLoadClean(6,:) > IndScans(1) ),( PayLoadClean(6,:) < IndScans(end)) ));
XYZ=PayLoadClean(1:3, K);
meanXYZ=mean(XYZ,2);
[Uc, Sc, Vc]=svd(XYZ-meanXYZ);
[Uc, Vc] = FixSignsRotation(Uc,Vc);
%Sc(:,1:3),Uc
if abs(Uc(2,1)) > abs(Uc(3,1))
Ind2D=[1,2];
else
Ind2D=[2,1];
end
% Ind2D
NScans=max(PayLoadClean(6,:))- min(PayLoadClean(6,:));
% Uc; is used for the projection;
%% Project to a plane, find ring lines and the edges of the target edges
Data=PayLoadClean(1:3,:);
temp=Uc'*(Data-mean(Data,2));
PayLoadClean2D=temp(Ind2D,:); %Project out the distance component
if base_line.show_results
current_img_handle = base_line.img_hangles(3);
hold(current_img_handle, 'on');
scatter(current_img_handle, PayLoadClean2D(1,:), PayLoadClean2D(2,:), '.b')
set(get(current_img_handle, 'parent'),'visible','on');% show the current axes
view(current_img_handle, -180, 90)
axis(current_img_handle, 'equal')
xlabel(current_img_handle, 'x')
ylabel(current_img_handle, 'y')
title(current_img_handle, 'Projected 2D points')
hold(current_img_handle, 'off');
end
disp("select polygons of interests")
disp("choosing LEupper")
[LU_in, LU_on] = getDataFromClickedPointsOnAImage(current_img_handle, 4, PayLoadClean2D, 'display');
LEupper = PayLoadClean2D(:, [LU_in, LU_on]);
disp("choosing LElower")
[LL_in, LL_on] = getDataFromClickedPointsOnAImage(current_img_handle, 4, PayLoadClean2D, 'display');
LElower = PayLoadClean2D(:, [LL_in, LL_on]);
disp("choosing REupper")
[RU_in, RU_on] = getDataFromClickedPointsOnAImage(current_img_handle, 4, PayLoadClean2D, 'display');
REupper = PayLoadClean2D(:, [RU_in, RU_on]);
disp("choosing RElower")
[RL_in, RL_on] = getDataFromClickedPointsOnAImage(current_img_handle, 4, PayLoadClean2D, 'display');
RElower = PayLoadClean2D(:, [RL_in, RL_on]);
end
function [U,V] = FixSignsRotation(U,V)
%Fix the signs
Temp=abs(U);
[junk,I]=max(Temp,[],1);
%[sign(U(I(1),1)),sign(U(I(2),2)),sign(U(I(3),3))]
Signs=diag([sign(U(I(1),1)),sign(U(I(2),2)),sign(U(I(3),3))]);
U=U*Signs;
V(:,1:3)=V(:,1:3)*Signs;
end