pcl_tools::icp_result alp_align(PointCloudT::Ptr object, PointCloudT::Ptr scene, PointCloudT::Ptr object_aligned,
int max_iterations, int num_samples, float similarity_thresh, float max_corresp_dist, float inlier_frac, float leaf) {
FeatureCloudT::Ptr object_features (new FeatureCloudT);
FeatureCloudT::Ptr scene_features (new FeatureCloudT);
// Downsample
pcl::console::print_highlight ("Downsampling...\n");
pcl::VoxelGrid<PointNT> grid;
// const float leaf = 0.005f;
// const float leaf = in_leaf;
grid.setLeafSize (leaf, leaf, leaf);
grid.setInputCloud (object);
grid.filter (*object);
grid.setInputCloud (scene);
grid.filter (*scene);
compute_normals(object);
compute_normals(scene);
compute_features(object, object_features);
compute_features(scene, scene_features);
// Perform alignment
pcl::console::print_highlight ("Starting alignment...\n");
pcl::SampleConsensusPrerejective<PointNT,PointNT,FeatureT> align;
align.setInputSource (object);
align.setSourceFeatures (object_features);
align.setInputTarget (scene);
align.setTargetFeatures (scene_features);
align.setMaximumIterations (max_iterations); // Number of RANSAC iterations
align.setNumberOfSamples (num_samples); // Number of points to sample for generating/prerejecting a pose
align.setCorrespondenceRandomness (12); // Number of nearest features to use
align.setSimilarityThreshold (similarity_thresh); // Polygonal edge length similarity threshold
align.setMaxCorrespondenceDistance (max_corresp_dist); // Inlier threshold
align.setInlierFraction (inlier_frac); // Required inlier fraction for accepting a pose hypothesis
{
pcl::ScopeTime t("Alignment");
align.align (*object_aligned);
}
pcl_tools::icp_result result;
result.affine = Eigen::Affine3d(align.getFinalTransformation().cast<double>());
result.converged = align.hasConverged();
result.inliers = align.getInliers ().size ();
return result;
}
// Align a rigid object to a scene with clutter and occlusions
int
main (int argc, char **argv)
{
// Point clouds
PointCloudT::Ptr object (new PointCloudT);
PointCloudT::Ptr object_aligned (new PointCloudT);
PointCloudT::Ptr scene (new PointCloudT);
FeatureCloudT::Ptr object_features (new FeatureCloudT);
FeatureCloudT::Ptr scene_features (new FeatureCloudT);
// Get input object and scene
if (argc != 3)
{
pcl::console::print_error ("Syntax is: %s object.pcd scene.pcd\n", argv[0]);
return (1);
}
// Load object and scene
pcl::console::print_highlight ("Loading point clouds...\n");
if (pcl::io::loadPCDFile<PointNT> (argv[1], *object) < 0 ||
pcl::io::loadPCDFile<PointNT> (argv[2], *scene) < 0)
{
pcl::console::print_error ("Error loading object/scene file!\n");
return (1);
}
// Downsample
pcl::console::print_highlight ("Downsampling...\n");
pcl::VoxelGrid<PointNT> grid;
const float leaf = 0.005f;
grid.setLeafSize (leaf, leaf, leaf);
grid.setInputCloud (object);
grid.filter (*object);
grid.setInputCloud (scene);
grid.filter (*scene);
// Estimate normals for scene
pcl::console::print_highlight ("Estimating scene normals...\n");
pcl::NormalEstimationOMP<PointNT,PointNT> nest;
nest.setRadiusSearch (0.01);
nest.setInputCloud (scene);
nest.compute (*scene);
// Estimate features
pcl::console::print_highlight ("Estimating features...\n");
FeatureEstimationT fest;
fest.setRadiusSearch (0.025);
fest.setInputCloud (object);
fest.setInputNormals (object);
fest.compute (*object_features);
fest.setInputCloud (scene);
fest.setInputNormals (scene);
fest.compute (*scene_features);
// Perform alignment
pcl::console::print_highlight ("Starting alignment...\n");
pcl::SampleConsensusPrerejective<PointNT,PointNT,FeatureT> align;
align.setInputSource (object);
align.setSourceFeatures (object_features);
align.setInputTarget (scene);
align.setTargetFeatures (scene_features);
align.setMaximumIterations (100000); // Number of RANSAC iterations
align.setNumberOfSamples (3); // Number of points to sample for generating/prerejecting a pose
align.setCorrespondenceRandomness (5); // Number of nearest features to use
align.setSimilarityThreshold (0.9f); // Polygonal edge length similarity threshold
align.setMaxCorrespondenceDistance (2.5f * leaf); // Inlier threshold
align.setInlierFraction (0.25f); // Required inlier fraction for accepting a pose hypothesis
{
pcl::ScopeTime t("Alignment");
align.align (*object_aligned);
}
if (align.hasConverged ())
{
// Print results
printf ("\n");
Eigen::Matrix4f transformation = align.getFinalTransformation ();
pcl::console::print_info (" | %6.3f %6.3f %6.3f | \n", transformation (0,0), transformation (0,1), transformation (0,2));
pcl::console::print_info ("R = | %6.3f %6.3f %6.3f | \n", transformation (1,0), transformation (1,1), transformation (1,2));
pcl::console::print_info (" | %6.3f %6.3f %6.3f | \n", transformation (2,0), transformation (2,1), transformation (2,2));
pcl::console::print_info ("\n");
pcl::console::print_info ("t = < %0.3f, %0.3f, %0.3f >\n", transformation (0,3), transformation (1,3), transformation (2,3));
pcl::console::print_info ("\n");
pcl::console::print_info ("Inliers: %i/%i\n", align.getInliers ().size (), object->size ());
// Show alignment
pcl::visualization::PCLVisualizer visu("Alignment");
visu.addPointCloud (scene, ColorHandlerT (scene, 0.0, 255.0, 0.0), "scene");
visu.addPointCloud (object_aligned, ColorHandlerT (object_aligned, 0.0, 0.0, 255.0), "object_aligned");
visu.spin ();
}
else
{
pcl::console::print_error ("Alignment failed!\n");
return (1);
}
return (0);
}
// Align a rigid object to a scene with clutter and occlusions
int
main (int argc, char **argv)
{
// Point clouds
PointCloudT::Ptr object (new PointCloudT);
PointCloudT::Ptr object_aligned (new PointCloudT);
PointCloudT::Ptr scene (new PointCloudT);
FeatureCloudT::Ptr object_features (new FeatureCloudT);
FeatureCloudT::Ptr scene_features (new FeatureCloudT);
// parameter reader
readParameters param_reader;
param_reader.setConfigureFile("param.cfg");
// Get input object and scene
if (argc != 3)
{
pcl::console::print_error ("Syntax is: %s object.pcd scene.pcd\n", argv[0]);
return (1);
}
// Load object and scene
pcl::console::print_highlight ("Loading point clouds...\n");
if (pcl::io::loadPCDFile<PointNT> (argv[1], *object) < 0 ||
pcl::io::loadPCDFile<PointNT> (argv[2], *scene) < 0)
{
pcl::console::print_error ("Error loading object/scene file!\n");
return (1);
}
//------------------------------------------------------------
// pre translation the object model
bool pre_transform_p = false;
param_reader.get<bool>("pre_transform_model_p", pre_transform_p);
if(pre_transform_p)
{
Eigen::Vector4f scene_center(0.0f, 0.0f, 0.0f, 0.0f);
pcl::compute3DCentroid(*scene, scene_center);
// generate the rotation matrix:
// define the rotation angle and rotation axis
float rotation_angle = (float)20.0/180.0*M_PI;
Eigen::Vector3f rotation_axis(0.2f, 1.0f, 1.0f);
Eigen::AngleAxisf rotation_mg (rotation_angle, rotation_axis);
// generate the whole tranform:
// translate the model to the origin first, and then do the rotation.
Eigen::Vector3f tmpVec3f(scene_center(0),
scene_center(1),
scene_center(2));
// tmpVec3f = tmpVec3f*0.09;
// translate first, then rotation
Eigen::Affine3f transform_mg (
rotation_mg*Eigen::Translation3f((-1) * tmpVec3f));
// transform the model cloud
pcl::transformPointCloud(*object, *object, transform_mg);
}
//------------------------------------------------------------
// Downsample
pcl::console::print_highlight ("Downsampling...\n");
pcl::VoxelGrid<PointNT> grid;
float leaf = 0.003f;
param_reader.get<float>("leaf_size", leaf);
grid.setLeafSize (leaf, leaf, leaf);
grid.setInputCloud (object);
grid.filter (*object);
grid.setInputCloud (scene);
grid.filter (*scene);
// Estimate normals for scene
pcl::console::print_highlight ("Estimating scene normals...\n");
pcl::NormalEstimationOMP<PointNT,PointNT> nest;
float normal_search_radius = 0.015;
param_reader.get<float>("normal_search_radius", normal_search_radius);
nest.setRadiusSearch (normal_search_radius);
nest.setInputCloud (scene);
nest.compute (*scene);
// Estimate features
pcl::console::print_highlight ("Estimating features...\n");
FeatureEstimationT fest;
float feature_search_radius=0.01;
param_reader.get<float>("feature_search_radius", feature_search_radius);
fest.setRadiusSearch (feature_search_radius);
fest.setInputCloud (object);
fest.setInputNormals (object);
fest.compute (*object_features);
fest.setInputCloud (scene);
fest.setInputNormals (scene);
fest.compute (*scene_features);
// Perform alignment
pcl::console::print_highlight ("Starting alignment...\n");
// Initialize Sample Consensus Initial Alignment (SAC-IA)
pcl::SampleConsensusInitialAlignment<PointNT, PointNT, FeatureT> reg;
reg.setMinSampleDistance (0.01f);
reg.setMaxCorrespondenceDistance (0.01);
reg.setMaximumIterations (1000);
reg.setInputSource (object);
reg.setInputTarget (scene);
reg.setSourceFeatures (object_features);
reg.setTargetFeatures (scene_features);
{
pcl::ScopeTime t("Alignment");
reg.align (*object_aligned);
}
if (reg.hasConverged ())
{
// Print results
printf ("\n");
Eigen::Matrix4f transformation = reg.getFinalTransformation ();
pcl::console::print_info (" | %6.3f %6.3f %6.3f | \n", transformation (0,0), transformation (0,1), transformation (0,2));
pcl::console::print_info ("R = | %6.3f %6.3f %6.3f | \n", transformation (1,0), transformation (1,1), transformation (1,2));
pcl::console::print_info (" | %6.3f %6.3f %6.3f | \n", transformation (2,0), transformation (2,1), transformation (2,2));
pcl::console::print_info ("\n");
pcl::console::print_info ("t = < %0.3f, %0.3f, %0.3f >\n", transformation (0,3), transformation (1,3), transformation (2,3));
pcl::console::print_info ("\n");
// pcl::console::print_info ("Inliers: %i/%i\n", reg.getInliers ().size (), object->size ());
// Show alignment
pcl::visualization::PCLVisualizer visu("Alignment");
visu.addPointCloud (scene, ColorHandlerT (scene, 0.0, 255.0, 0.0), "scene");
visu.addPointCloud (object_aligned, ColorHandlerT (object_aligned, 0.0, 0.0, 255.0), "object_aligned");
visu.spin ();
}
else
{
pcl::console::print_error ("Alignment failed!\n");
return (1);
}
return (0);
}
