narfStruct narf(const sensor_msgs::PointCloud2::Ptr p)
{
//sensor_msgs::PointCloud2::Ptr s = msg.instantiate<sensor_msgs::PointCloud2>();
pcl::PointCloud<pcl::PointXYZ> point_cloud;
pcl::fromROSMsg (*p, point_cloud);
pcl::RangeImage range_image;
point_cloud.width = (int) point_cloud.points.size (); point_cloud.height = 1;
range_image.createFromPointCloud (point_cloud, angular_resolution, pcl::deg2rad (360.0f), pcl::deg2rad (180.0f),
scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);
// Extract NARF keypoints
pcl::RangeImageBorderExtractor range_image_border_extractor;
pcl::NarfKeypoint narf_keypoint_detector;
narf_keypoint_detector.setRangeImageBorderExtractor (&range_image_border_extractor);
narf_keypoint_detector.setRangeImage (&range_image);
narf_keypoint_detector.getParameters ().support_size = support_size;
pcl::PointCloud<int> keypoint_indices;
narf_keypoint_detector.compute (keypoint_indices);
// Extract NARF descriptors for interest points
std::vector<int> keypoint_indices2;
keypoint_indices2.resize (keypoint_indices.points.size ());
for (unsigned int i=0; i<keypoint_indices.size (); ++i){ // This step is necessary to get the right vector type
keypoint_indices2[i]=keypoint_indices.points[i]; }
pcl::NarfDescriptor narf_descriptor (&range_image, &keypoint_indices2);
narf_descriptor.getParameters ().support_size = support_size;
narf_descriptor.getParameters ().rotation_invariant = rotation_invariant;
narfStruct ns;
//pcl::PointCloud<pcl::Narf36> narf_descriptors;
narf_descriptor.compute (ns.narf_descriptors);
std::cout << "\nNarf:[36 x " <<ns.narf_descriptors.size ()<< "]\t";
ns.rangeImg = range_image;
return ns;
}
// ----------------------------------------------------------------------------
void loadFeatures3d(BoWFeatures &features)
{
typedef pcl::PointXYZ PointType;
float angular_resolution = pcl::deg2rad (0.15f);
float support_size = 0.1f;
features.clear();
features.reserve(files_list_3d.size());
float noise_level = 0.0f;
float min_range = 0.0f;
int border_size = 1;
double acc_media = 0,media=0,scarti=0,varianza=0;
//pcl::visualization::RangeImageVisualizer range_image_widget ("Range image");
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
pcl::RangeImage::Ptr range_image_ptr (new pcl::RangeImage);
pcl::RangeImage& range_image = *range_image_ptr;
for (int i = 0; i < files_list_3d.size(); ++i) {
clock_t begin = clock();
pcl::PointCloud<PointType>::Ptr point_cloud_wf (new pcl::PointCloud<PointType>);
pcl::PointCloud<PointType>::Ptr point_cloud (new pcl::PointCloud<PointType>);
pcl::io::loadPCDFile (files_list_3d[i], *point_cloud_wf);
//filtraggio valori NaN
std::vector<int> indices;
pcl::removeNaNFromPointCloud (*point_cloud_wf,*point_cloud_wf,indices);
pcl::VoxelGrid<PointType> sor;
sor.setInputCloud (point_cloud_wf);
sor.setLeafSize (0.01f, 0.01f, 0.01f);
sor.filter (*point_cloud);
cout << "Estrazione NARF: " << files_list_3d[i] ;
Eigen::Affine3f scene_sensor_pose (Eigen::Affine3f::Identity());
scene_sensor_pose = Eigen::Affine3f (Eigen::Translation3f ((*point_cloud).sensor_origin_[0],
(*point_cloud).sensor_origin_[1],
(*point_cloud).sensor_origin_[2])) *
Eigen::Affine3f ((*point_cloud).sensor_orientation_);
// pcl::visualization::RangeImageVisualizer range_image_widget ("Range image");
range_image.max_no_of_threads = 2;
range_image.createFromPointCloud ((*point_cloud),angular_resolution,pcl::deg2rad(360.0f),pcl::deg2rad(180.0f),scene_sensor_pose,coordinate_frame,noise_level,min_range,border_size);
range_image.setUnseenToMaxRange();
//saveRangeImagePlanarFilePNG(boost::lexical_cast<string>(i),range_image);
//range_image_widget.showRangeImage (range_image);
//range_image_widget.spin();
pcl::RangeImageBorderExtractor range_image_border_extractor;
pcl::NarfKeypoint narf_keypoint_detector;
narf_keypoint_detector.setRangeImageBorderExtractor (&range_image_border_extractor);
narf_keypoint_detector.setRangeImage (&range_image);
narf_keypoint_detector.getParameters().support_size = support_size;
//euristiche, per avvicinarsi al real time
narf_keypoint_detector.getParameters().max_no_of_threads = 2;
narf_keypoint_detector.getParameters().calculate_sparse_interest_image=false; //false
narf_keypoint_detector.getParameters().use_recursive_scale_reduction=true; //true
//narf_keypoint_detector.getParameters().add_points_on_straight_edges=true;
pcl::PointCloud<int> keypoint_indices;
narf_keypoint_detector.compute (keypoint_indices);
vector<int> keypoint_indices2;
keypoint_indices2.resize (keypoint_indices.points.size ());
for (unsigned int i=0; i<keypoint_indices.size (); ++i) // This step is necessary to get the right vector type
keypoint_indices2[i]=keypoint_indices.points[i];
pcl::NarfDescriptor narf_descriptor (&range_image, &keypoint_indices2);
narf_descriptor.getParameters().support_size = support_size;
narf_descriptor.getParameters().rotation_invariant = true;
pcl::PointCloud<pcl::Narf36> narf_descriptors;
narf_descriptor.compute (narf_descriptors);
clock_t end = clock();
double elapsed_secs = double(end - begin) / CLOCKS_PER_SEC;
media = media + elapsed_secs;
acc_media = media / (i+1);
cout << "media: " << acc_media<<endl;
scarti += pow(elapsed_secs-acc_media,2);
varianza = sqrt(scarti/(i+1));
cout << "varianza: " << varianza<<endl;
cout << ". Estratti "<<narf_descriptors.size ()<<" descrittori. Punti: " <<keypoint_indices.points.size ()<< "."<<endl;
features.push_back(vector<vector<float> >());
for (int p = 0; p < narf_descriptors.size(); p++) {
vector<float> flot;
copy(narf_descriptors[p].descriptor, narf_descriptors[p].descriptor+FNarf::L, back_inserter(flot));
features.back().push_back(flot);
flot.clear();
}
indices.clear();
range_image_border_extractor.clearData();
narf_keypoint_detector.clearData();
(*range_image_ptr).clear();
keypoint_indices.clear();
keypoint_indices2.clear();
(*point_cloud).clear();
(*point_cloud_wf).clear();
range_image.clear();
narf_descriptors.clear();
narf_descriptor = NULL;
}
cout << "Estrazione terminata." << endl;
}
// --------------
// -----Main-----
// --------------
int
main (int argc, char** argv)
{
// --------------------------------------
// -----Parse Command Line Arguments-----
// --------------------------------------
if (pcl::console::find_argument (argc, argv, "-h") >= 0)
{
printUsage (argv[0]);
return 0;
}
if (pcl::console::find_argument (argc, argv, "-m") >= 0)
{
setUnseenToMaxRange = true;
cout << "Setting unseen values in range image to maximum range readings.\n";
}
if (pcl::console::parse (argc, argv, "-o", rotation_invariant) >= 0)
cout << "Switching rotation invariant feature version "<< (rotation_invariant ? "on" : "off")<<".\n";
int tmp_coordinate_frame;
if (pcl::console::parse (argc, argv, "-c", tmp_coordinate_frame) >= 0)
{
coordinate_frame = pcl::RangeImage::CoordinateFrame (tmp_coordinate_frame);
cout << "Using coordinate frame "<< (int)coordinate_frame<<".\n";
}
if (pcl::console::parse (argc, argv, "-s", support_size) >= 0)
cout << "Setting support size to "<<support_size<<".\n";
if (pcl::console::parse (argc, argv, "-r", angular_resolution) >= 0)
cout << "Setting angular resolution to "<<angular_resolution<<"deg.\n";
angular_resolution = pcl::deg2rad (angular_resolution);
// ------------------------------------------------------------------
// -----Read pcd file or create example point cloud if not given-----
// ------------------------------------------------------------------
pcl::PointCloud<PointType>::Ptr point_cloud_ptr (new pcl::PointCloud<PointType>);
pcl::PointCloud<PointType>& point_cloud = *point_cloud_ptr;
pcl::PointCloud<pcl::PointWithViewpoint> far_ranges;
Eigen::Affine3f scene_sensor_pose (Eigen::Affine3f::Identity ());
std::vector<int> pcd_filename_indices = pcl::console::parse_file_extension_argument (argc, argv, "pcd");
if (!pcd_filename_indices.empty ())
{
std::string filename = argv[pcd_filename_indices[0]];
if (pcl::io::loadPCDFile (filename, point_cloud) == -1)
{
cerr << "Was not able to open file \""<<filename<<"\".\n";
printUsage (argv[0]);
return 0;
}
scene_sensor_pose = Eigen::Affine3f (Eigen::Translation3f (point_cloud.sensor_origin_[0],
point_cloud.sensor_origin_[1],
point_cloud.sensor_origin_[2])) *
Eigen::Affine3f (point_cloud.sensor_orientation_);
std::string far_ranges_filename = pcl::getFilenameWithoutExtension (filename)+"_far_ranges.pcd";
if (pcl::io::loadPCDFile (far_ranges_filename.c_str (), far_ranges) == -1)
std::cout << "Far ranges file \""<<far_ranges_filename<<"\" does not exists.\n";
}
else
{
setUnseenToMaxRange = true;
cout << "\nNo *.pcd file given => Genarating example point cloud.\n\n";
for (float x=-0.5f; x<=0.5f; x+=0.01f)
{
for (float y=-0.5f; y<=0.5f; y+=0.01f)
{
PointType point;
point.x = x;
point.y = y;
point.z = 2.0f - y;
point_cloud.points.push_back (point);
}
}
point_cloud.width = (int) point_cloud.points.size ();
point_cloud.height = 1;
}
// -----------------------------------------------
// -----Create RangeImage from the PointCloud-----
// -----------------------------------------------
float noise_level = 0.0;
float min_range = 0.0f;
int border_size = 1;
boost::shared_ptr<pcl::RangeImage> range_image_ptr (new pcl::RangeImage);
pcl::RangeImage& range_image = *range_image_ptr;
range_image.createFromPointCloud (point_cloud, angular_resolution, pcl::deg2rad (360.0f), pcl::deg2rad (180.0f),
scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);
range_image.integrateFarRanges (far_ranges);
if (setUnseenToMaxRange)
range_image.setUnseenToMaxRange ();
// --------------------------------------------
// -----Open 3D viewer and add point cloud-----
// --------------------------------------------
pcl::visualization::PCLVisualizer viewer ("3D Viewer");
viewer.setBackgroundColor (1, 1, 1);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 0, 0, 0);
viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
//viewer.addCoordinateSystem (1.0f);
//PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
//viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
viewer.initCameraParameters ();
setViewerPose (viewer, range_image.getTransformationToWorldSystem ());
// --------------------------
// -----Show range image-----
// --------------------------
pcl::visualization::RangeImageVisualizer range_image_widget ("Range image");
range_image_widget.showRangeImage (range_image);
// --------------------------------
// -----Extract NARF keypoints-----
// --------------------------------
pcl::RangeImageBorderExtractor range_image_border_extractor;
pcl::NarfKeypoint narf_keypoint_detector;
narf_keypoint_detector.setRangeImageBorderExtractor (&range_image_border_extractor);
narf_keypoint_detector.setRangeImage (&range_image);
narf_keypoint_detector.getParameters ().support_size = support_size;
pcl::PointCloud<int> keypoint_indices;
narf_keypoint_detector.compute (keypoint_indices);
std::cout << "Found "<<keypoint_indices.points.size ()<<" key points.\n";
// ----------------------------------------------
// -----Show keypoints in range image widget-----
// ----------------------------------------------
//for (size_t i=0; i<keypoint_indices.points.size (); ++i)
//range_image_widget.markPoint (keypoint_indices.points[i]%range_image.width,
//keypoint_indices.points[i]/range_image.width);
// -------------------------------------
// -----Show keypoints in 3D viewer-----
// -------------------------------------
pcl::PointCloud<pcl::PointXYZ>::Ptr keypoints_ptr (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>& keypoints = *keypoints_ptr;
keypoints.points.resize (keypoint_indices.points.size ());
for (size_t i=0; i<keypoint_indices.points.size (); ++i)
keypoints.points[i].getVector3fMap () = range_image.points[keypoint_indices.points[i]].getVector3fMap ();
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> keypoints_color_handler (keypoints_ptr, 0, 255, 0);
viewer.addPointCloud<pcl::PointXYZ> (keypoints_ptr, keypoints_color_handler, "keypoints");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 7, "keypoints");
// ------------------------------------------------------
// -----Extract NARF descriptors for interest points-----
// ------------------------------------------------------
std::vector<int> keypoint_indices2;
keypoint_indices2.resize (keypoint_indices.points.size ());
for (unsigned int i=0; i<keypoint_indices.size (); ++i) // This step is necessary to get the right vector type
keypoint_indices2[i]=keypoint_indices.points[i];
pcl::NarfDescriptor narf_descriptor (&range_image, &keypoint_indices2);
narf_descriptor.getParameters ().support_size = support_size;
narf_descriptor.getParameters ().rotation_invariant = rotation_invariant;
pcl::PointCloud<pcl::Narf36> narf_descriptors;
narf_descriptor.compute (narf_descriptors);
cout << "Extracted "<<narf_descriptors.size ()<<" descriptors for "
<<keypoint_indices.points.size ()<< " keypoints.\n";
//--------------------
// -----Main loop-----
//--------------------
while (!viewer.wasStopped ())
{
range_image_widget.spinOnce (); // process GUI events
viewer.spinOnce ();
pcl_sleep(0.01);
}
}
