void
run (float pair_width, float voxel_size, float max_coplanarity_angle, int num_hypotheses_to_show)
{
PointCloud<PointXYZ>::Ptr scene_points (new PointCloud<PointXYZ> ()), model_points (new PointCloud<PointXYZ> ());
PointCloud<Normal>::Ptr scene_normals (new PointCloud<Normal> ()), model_normals (new PointCloud<Normal> ());
// Get the points and normals from the scene
if ( !vtk_to_pointcloud ("../../test/tum_table_scene.vtk", *scene_points, *scene_normals) )
return;
vtkPolyData *vtk_model = vtkPolyData::New ();
// Get the points and normals from the scene
if ( !vtk_to_pointcloud ("../../test/tum_amicelli_box.vtk", *model_points, *model_normals, vtk_model) )
return;
// The recognition object
ObjRecRANSAC objrec (pair_width, voxel_size);
objrec.setMaxCoplanarityAngleDegrees (max_coplanarity_angle);
objrec.addModel (*model_points, *model_normals, "amicelli", vtk_model);
// Switch to the test mode in which only oriented point pairs from the scene are sampled
objrec.enterTestModeTestHypotheses ();
// The visualizer
PCLVisualizer viz;
CallbackParameters params(objrec, viz, *scene_points, *scene_normals, num_hypotheses_to_show);
viz.registerKeyboardCallback (keyboardCB, static_cast<void*> (¶ms));
// Run the recognition and update the viewer
update (¶ms);
#ifdef _SHOW_SCENE_POINTS_
viz.addPointCloud (scene_points, "cloud in");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud in");
#endif
#ifdef _SHOW_OCTREE_POINTS_
PointCloud<PointXYZ>::Ptr octree_points (new PointCloud<PointXYZ> ());
objrec.getSceneOctree ().getFullLeavesPoints (*octree_points);
viz.addPointCloud (octree_points, "octree points");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "octree points");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "octree points");
#endif
#if defined _SHOW_OCTREE_NORMALS_ && defined _SHOW_OCTREE_POINTS_
PointCloud<Normal>::Ptr octree_normals (new PointCloud<Normal> ());
objrec.getSceneOctree ().getNormalsOfFullLeaves (*octree_normals);
viz.addPointCloudNormals<PointXYZ,Normal> (octree_points, octree_normals, 1, 6.0f, "normals out");
#endif
// Enter the main loop
while (!viz.wasStopped ())
{
//main loop of the visualizer
viz.spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
vtk_model->Delete ();
}
TEST_F(test_map, map_image_corners) {
SKIP_IF_FAST
vector<Point> corners;
// select points close to corners, avoid NaNs
int margin = 160;
corners.push_back(Point(margin, margin));
corners.push_back(Point(img.cols - margin, margin));
corners.push_back(Point(img.cols - margin, img.rows - margin));
corners.push_back(Point(margin, img.rows - margin));
PointCloudT corners3d;
mapToCloud(corners3d, corners, img, cloud);
EXPECT_EQ(corners.size(), corners3d.size());
EXPECT_EQ(4, corners.size());
EXPECT_EQ(4, corners3d.size());
for (PointCloudT::iterator it = corners3d.begin(),
end = corners3d.end(); it != end; it++) {
cout << boost::format("%d: %8f,%8f,%8f") % (it - corners3d.begin()) % (*it).x % (*it).y % (*it).z << endl;
}
// show the whole stuff
PCLVisualizer vis;
addPose(vis, PoseRT());
addMarkerPolygon3d(vis, corners3d);
vis.addPointCloud(cloud);
vis.spin();
}
void run (const char* file_name, float voxel_size)
{
PointCloud<PointXYZ>::Ptr points_in (new PointCloud<PointXYZ> ());
PointCloud<PointXYZ>::Ptr points_out (new PointCloud<PointXYZ> ());
// Get the points and normals from the input vtk file
if ( !vtk_to_pointcloud (file_name, *points_in) )
return;
// Build the octree with the desired resolution
ORROctree octree;
octree.build (*points_in, voxel_size);
// Now build the octree z-projection
ORROctreeZProjection zproj;
zproj.build (octree, 0.15f*voxel_size, 0.15f*voxel_size);
// The visualizer
PCLVisualizer viz;
show_octree(&octree, viz);
show_octree_zproj(&zproj, viz);
#ifdef _SHOW_POINTS_
// Get the point of every full octree leaf
octree.getFullLeafPoints (*points_out);
// Add the point clouds
viz.addPointCloud (points_in, "cloud in");
viz.addPointCloud (points_out, "cloud out");
// Change the appearance
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud in");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "cloud out");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "cloud out");
#endif
// Enter the main loop
while (!viz.wasStopped ())
{
//main loop of the visualizer
viz.spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
TEST_F(test_map, map_markers) {
SKIP_IF_FAST
vector<Point> red2d;
vector<Point> green2d;
vector<Point> yellow2d;
vector<Point> blue2d;
red2d.push_back(Point(727, 269));
red2d.push_back(Point(716, 448));
red2d.push_back(Point(806, 449));
red2d.push_back(Point(834, 268));
green2d.push_back(Point(336, 195));
green2d.push_back(Point(1157, 198));
yellow2d.push_back(Point(338, 183));
yellow2d.push_back(Point(1154, 189));
blue2d.push_back(Point(697, 86));
blue2d.push_back(Point(371, 92));
PointCloudT red3d;
PointCloudT green3d;
PointCloudT yellow3d;
PointCloudT blue3d;
mapToCloud(red3d, red2d, markerImg, cloud);
mapToCloud(green3d, green2d, markerImg, cloud);
mapToCloud(yellow3d, yellow2d, markerImg, cloud);
mapToCloud(blue3d, blue2d, markerImg, cloud);
/*
PointCloudT red3d_hscaled;
PointCloudT green3d_hscaled;
PointCloudT yellow3d_hscaled;
PointCloudT blue3d_hscaled;
mapToCloud(red3d_hscaled, red2d, markerImg, cloud, false);
mapToCloud(green3d_hscaled, green2d, markerImg, cloud, false);
mapToCloud(yellow3d_hscaled, yellow2d, markerImg, cloud, false);
mapToCloud(blue3d_hscaled, blue2d, markerImg, cloud, false);
EXPECT_EQ(red2d.size(), red3d_hscaled.size());
EXPECT_EQ(green2d.size(), green3d_hscaled.size());
EXPECT_EQ(yellow2d.size(), yellow3d_hscaled.size());
EXPECT_EQ(blue2d.size(), blue3d_hscaled.size());
*/
EXPECT_EQ(640, cloud.width);
EXPECT_EQ(480, cloud.height);
imshow("MapMarkers", markerImg);
waitKey(-1);
// TODO: PCLVisualizer segfaults for no reason...
#ifdef ENABLE_PCLVIS
// show the whole stuff
PCLVisualizer vis;
addPose(vis, PoseRT());
addMarkerPolygon3d(vis, red3d, 255, 0, 0, "red");
addMarkerPolygon3d(vis, green3d, 0, 216, 0, "green");
addMarkerPolygon3d(vis, yellow3d, 255, 216, 0, "yellow");
addMarkerPolygon3d(vis, blue3d, 0, 66, 255, "blue");
/*
addMarkerPolygon3d(vis, red3d_hscaled, 204, 153, 153, "red_hscaled");
addMarkerPolygon3d(vis, green3d_hscaled, 153, 204, 153, "green_hscaled");
addMarkerPolygon3d(vis, yellow3d_hscaled, 204, 204, 153, "yellow_hscaled");
addMarkerPolygon3d(vis, blue3d_hscaled, 153, 153, 204, "blue_hscaled");*/
vis.addPointCloud(cloud);
vis.spin();
#endif
}
int
main (int argc, char** argv)
{
// Read command line arguments.
for (char c; (c = getopt (argc, argv, "s:hc:r:")) != -1; )
{
switch (c)
{
case 'c':
coordinate_frame = RangeImage::CoordinateFrame (strtol (optarg, NULL, 0));
break;
case 'r':
{
angular_resolution = strtod (optarg, NULL);
cout << PVARN(angular_resolution);
break;
}
case 's':
{
source = strtol (optarg, NULL, 0);
if (source < 0 || source > 2)
{
cout << "Source "<<source<<" is unknown.\n";
exit (0);
}
cout << "Receiving "<<(source==0 ? "point clouds" : (source==1 ? "depth images" : "disparity images"))<<".\n";
break;
}
case 'h':
default:
printUsage (argv[0]);
exit (0);
}
}
angular_resolution = deg2rad (angular_resolution);
ros::init (argc, argv, "tutorial_range_image_live_viewer");
ros::NodeHandle node_handle;
ros::Subscriber subscriber, subscriber2;
if (node_handle.resolveName("input")=="/input")
std::cerr << "Did you forget input:=<your topic>?\n";
if (source == 0)
subscriber = node_handle.subscribe ("input", 1, cloud_msg_cb);
else if (source == 1)
{
if (node_handle.resolveName("input2")=="/input2")
std::cerr << "Did you forget input2:=<your camera_info_topic>?\n";
subscriber = node_handle.subscribe ("input", 1, depth_image_msg_cb);
subscriber2 = node_handle.subscribe ("input2", 1, camera_info_msg_cb);
}
else if (source == 2)
subscriber = node_handle.subscribe ("input", 1, disparity_image_msg_cb);
PCLVisualizer viewer (argc, argv, "Live viewer - point cloud");
RangeImageVisualizer range_image_widget("Live viewer - range image");
RangeImagePlanar* range_image_planar;
RangeImage* range_image;
if (source==0)
range_image = new RangeImage;
else
{
range_image_planar = new RangeImagePlanar;
range_image = range_image_planar;
}
while (node_handle.ok ())
{
usleep (10000);
viewer.spinOnce (10);
RangeImageVisualizer::spinOnce ();
ros::spinOnce ();
if (source==0)
{
// If no new message received: continue
if (!cloud_msg || cloud_msg == old_cloud_msg)
continue;
old_cloud_msg = cloud_msg;
Eigen::Affine3f sensor_pose(Eigen::Affine3f::Identity());
PointCloud<PointWithViewpoint> far_ranges;
RangeImage::extractFarRanges(*cloud_msg, far_ranges);
if (pcl::getFieldIndex(*cloud_msg, "vp_x")>=0)
{
PointCloud<PointWithViewpoint> tmp_pc;
fromROSMsg(*cloud_msg, tmp_pc);
Eigen::Vector3f average_viewpoint = RangeImage::getAverageViewPoint(tmp_pc);
sensor_pose = Eigen::Translation3f(average_viewpoint) * sensor_pose;
}
PointCloud<PointType> point_cloud;
fromROSMsg(*cloud_msg, point_cloud);
range_image->createFromPointCloud(point_cloud, angular_resolution, deg2rad(360.0f), deg2rad(180.0f),
sensor_pose, coordinate_frame, noise_level, min_range, border_size);
}
else if (source==1)
{
// If no new message received: continue
if (!depth_image_msg || depth_image_msg == old_depth_image_msg || !camera_info_msg)
continue;
old_depth_image_msg = depth_image_msg;
range_image_planar->setDepthImage(reinterpret_cast<const float*> (&depth_image_msg->data[0]),
depth_image_msg->width, depth_image_msg->height,
camera_info_msg->P[2], camera_info_msg->P[6],
camera_info_msg->P[0], camera_info_msg->P[5], angular_resolution);
}
else if (source==2)
{
// If no new message received: continue
if (!disparity_image_msg || disparity_image_msg == old_disparity_image_msg)
continue;
old_disparity_image_msg = disparity_image_msg;
range_image_planar->setDisparityImage(reinterpret_cast<const float*> (&disparity_image_msg->image.data[0]),
disparity_image_msg->image.width, disparity_image_msg->image.height,
disparity_image_msg->f, disparity_image_msg->T, angular_resolution);
}
range_image_widget.setRangeImage (*range_image);
viewer.removePointCloud ("range image cloud");
pcl_visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> color_handler_cloud(*range_image,
200, 200, 200);
viewer.addPointCloud (*range_image, color_handler_cloud, "range image cloud");
}
}
void
run (float pair_width, float voxel_size, float max_coplanarity_angle)
{
// The object recognizer
ObjRecRANSAC objrec (pair_width, voxel_size);
objrec.setMaxCoplanarityAngleDegrees (max_coplanarity_angle);
// The models to be loaded
list<string> model_names;
model_names.emplace_back("tum_amicelli_box");
model_names.emplace_back("tum_rusk_box");
model_names.emplace_back("tum_soda_bottle");
list<PointCloud<PointXYZ>::Ptr> model_points_list;
list<PointCloud<Normal>::Ptr> model_normals_list;
list<vtkSmartPointer<vtkPolyData> > vtk_models_list;
// Load the models and add them to the recognizer
for (const auto &model_name : model_names)
{
PointCloud<PointXYZ>::Ptr model_points (new PointCloud<PointXYZ> ());
model_points_list.push_back (model_points);
PointCloud<Normal>::Ptr model_normals (new PointCloud<Normal> ());
model_normals_list.push_back (model_normals);
vtkSmartPointer<vtkPolyData> vtk_model = vtkSmartPointer<vtkPolyData>::New ();
vtk_models_list.push_back (vtk_model);
// Compose the file
string file_name = string("../../test/") + model_name + string (".vtk");
// Get the points and normals from the input model
if ( !vtk2PointCloud (file_name.c_str (), *model_points, *model_normals, vtk_model) )
continue;
// Add the model
objrec.addModel (*model_points, *model_normals, model_name, vtk_model);
}
// The scene in which the models are supposed to be recognized
PointCloud<PointXYZ>::Ptr non_plane_points (new PointCloud<PointXYZ> ()), plane_points (new PointCloud<PointXYZ> ());
PointCloud<Normal>::Ptr non_plane_normals (new PointCloud<Normal> ());
// Detect the largest plane in the dataset
if ( !loadScene ("../../test/tum_table_scene.vtk", *non_plane_points, *non_plane_normals, *plane_points) )
return;
// The parameters for the callback function and the visualizer
PCLVisualizer viz;
CallbackParameters params(objrec, viz, *non_plane_points, *non_plane_normals);
viz.registerKeyboardCallback (keyboardCB, static_cast<void*> (¶ms));
// Run the recognition and update the viewer. Have a look at this method, to see how to start the recognition and use the result!
update (¶ms);
// From this line on: visualization stuff only!
#ifdef _SHOW_OCTREE_
show_octree(objrec.getSceneOctree (), viz);
#endif
#ifdef _SHOW_SCENE_POINTS_
viz.addPointCloud (scene_points, "scene points");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "scene points");
#endif
#ifdef _SHOW_OCTREE_POINTS_
PointCloud<PointXYZ>::Ptr octree_points (new PointCloud<PointXYZ> ());
objrec.getSceneOctree ().getFullLeavesPoints (*octree_points);
viz.addPointCloud (octree_points, "octree points");
// viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "octree points");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "octree points");
viz.addPointCloud (plane_points, "plane points");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 0.9, 0.9, 0.9, "plane points");
#endif
#if defined _SHOW_OCTREE_NORMALS_ && defined _SHOW_OCTREE_POINTS_
PointCloud<Normal>::Ptr normals_octree (new PointCloud<Normal> ());
objrec.getSceneOctree ().getNormalsOfFullLeaves (*normals_octree);
viz.addPointCloudNormals<PointXYZ,Normal> (points_octree, normals_octree, 1, 6.0f, "normals out");
#endif
// Enter the main loop
while (!viz.wasStopped ())
{
//main loop of the visualizer
viz.spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
void run (const char* file_name, float voxel_size)
{
PointCloud<PointXYZ>::Ptr points_in (new PointCloud<PointXYZ> ());
PointCloud<PointXYZ>::Ptr points_out (new PointCloud<PointXYZ> ());
PointCloud<Normal>::Ptr normals_in (new PointCloud<Normal> ());
PointCloud<Normal>::Ptr normals_out (new PointCloud<Normal> ());
// Get the points and normals from the input vtk file
#ifdef _SHOW_OCTREE_NORMALS_
if ( !vtk_to_pointcloud (file_name, *points_in, &(*normals_in)) )
return;
#else
if ( !vtk_to_pointcloud (file_name, *points_in, NULL) )
return;
#endif
// Build the octree with the desired resolution
ORROctree octree;
if ( normals_in->size () )
octree.build (*points_in, voxel_size, &*normals_in);
else
octree.build (*points_in, voxel_size);
// Get the first full leaf in the octree (arbitrary order)
std::vector<ORROctree::Node*>::iterator leaf = octree.getFullLeaves ().begin ();
// Get the average points in every full octree leaf
octree.getFullLeavesPoints (*points_out);
// Get the average normal at the points in each leaf
if ( normals_in->size () )
octree.getNormalsOfFullLeaves (*normals_out);
// The visualizer
PCLVisualizer viz;
// Register a keyboard callback
CallbackParameters params(octree, viz, leaf);
viz.registerKeyboardCallback (keyboardCB, static_cast<void*> (¶ms));
// Add the point clouds
viz.addPointCloud (points_in, "cloud in");
viz.addPointCloud (points_out, "cloud out");
if ( normals_in->size () )
viz.addPointCloudNormals<PointXYZ,Normal> (points_out, normals_out, 1, 6.0f, "normals out");
// Change the appearance
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud in");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "cloud out");
viz.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "cloud out");
// Convert the octree to a VTK poly-data object
// show_octree(&octree, viz, true/*show full leaves only*/);
updateViewer (octree, viz, leaf);
// Enter the main loop
while (!viz.wasStopped ())
{
//main loop of the visualizer
viz.spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
}
