int main(int argc, char** argv)
{
ros::init(argc,argv,"greedy_objrec_ransac_node");
ros::NodeHandle nh;
pcl::console::parse_argument(argc, argv, "--m", method_id);
pcl::console::parse_argument(argc, argv, "--p", path);
pcl::console::parse_argument(argc, argv, "--t", trial_id);
pcl::console::parse_argument(argc, argv, "--link", link_mesh_name);
pcl::console::parse_argument(argc, argv, "--node", node_mesh_name);
pcl::console::parse_argument(argc, argv, "--link-width", linkWidth);
pcl::console::parse_argument(argc, argv, "--node-width", nodeWidth);
pcl::console::parse_argument(argc, argv, "--voxel-size", voxelSize);
linkrec = std::shared_ptr<greedyObjRansac>(new greedyObjRansac(linkWidth, voxelSize));
noderec = std::shared_ptr<greedyObjRansac>(new greedyObjRansac(nodeWidth, voxelSize));
objrec = std::shared_ptr<greedyObjRansac>(new greedyObjRansac(nodeWidth, voxelSize));
bool view_flag = false;
if( pcl::console::find_switch(argc, argv, "-v") == true )
view_flag = true;
if( view_flag == true )
{
viewer = pcl::visualization::PCLVisualizer::Ptr (new pcl::visualization::PCLVisualizer());
viewer->initCameraParameters();
viewer->addCoordinateSystem(0.1);
viewer->setSize(640, 480);
viewer->setCameraPosition(0, 0, 0.1, 0, 0, 1, 0, -1, 0);
}
std::stringstream mm;
mm << method_id;
if( method_id >= 3 )
{
ROS_INFO("Loading link mesh from \"%s.obj\"...",link_mesh_name.c_str());
link_mesh = LoadMesh(link_mesh_name+".obj", "link");
ROS_INFO("Loading node mesh from \"%s.obj\"...",node_mesh_name.c_str());
node_mesh = LoadMesh(node_mesh_name+".obj", "node");
mesh_set.push_back(link_mesh);
mesh_set.push_back(node_mesh);
}
switch(method_id)
{
case 0:
case 1:
case 2:
objrec->AddModel(link_mesh_name, "link");
objrec->AddModel(node_mesh_name, "node");
break;
case 3:
case 4:
case 5:
linkrec->AddModel(link_mesh_name, "link");
noderec->AddModel(node_mesh_name, "node");
break;
default:return 0;
}
if (method_id < 3) {
pub_link = nh.advertise<geometry_msgs::PoseArray>("objects",1000);
} else {
pub_link = nh.advertise<geometry_msgs::PoseArray>("links",1000);
pub_node = nh.advertise<geometry_msgs::PoseArray>("nodes",1000);
}
sub = nh.subscribe("points_in",1,callback);
// send and recieve messages
while (ros::ok()) {
ros::spin();
}
return 0;
}
int
main (int argc, char** argv)
{
srand (time (0));
print_info ("The viewer window provides interactive commands; for help, press 'h' or 'H' from within the window.\n");
if (argc < 2)
{
printHelp (argc, argv);
return (-1);
}
// Command line parsing
double bcolor[3] = {0, 0, 0};
pcl::console::parse_3x_arguments (argc, argv, "-bc", bcolor[0], bcolor[1], bcolor[2]);
std::vector<double> fcolor_r, fcolor_b, fcolor_g;
bool fcolorparam = pcl::console::parse_multiple_3x_arguments (argc, argv, "-fc", fcolor_r, fcolor_g, fcolor_b);
std::vector<int> psize;
pcl::console::parse_multiple_arguments (argc, argv, "-ps", psize);
std::vector<double> opaque;
pcl::console::parse_multiple_arguments (argc, argv, "-opaque", opaque);
int mview = 0;
pcl::console::parse_argument (argc, argv, "-multiview", mview);
int normals = 0;
pcl::console::parse_argument (argc, argv, "-normals", normals);
double normals_scale = NORMALS_SCALE;
pcl::console::parse_argument (argc, argv, "-normals_scale", normals_scale);
int pc = 0;
pcl::console::parse_argument (argc, argv, "-pc", pc);
double pc_scale = PC_SCALE;
pcl::console::parse_argument (argc, argv, "-pc_scale", pc_scale);
// Parse the command line arguments for .pcd files
std::vector<int> p_file_indices = pcl::console::parse_file_extension_argument (argc, argv, ".pcd");
std::vector<int> vtk_file_indices = pcl::console::parse_file_extension_argument (argc, argv, ".vtk");
if (p_file_indices.size () == 0 && vtk_file_indices.size () == 0)
{
print_error ("No .PCD or .VTK file given. Nothing to visualize.\n");
return (-1);
}
// Multiview enabled?
int y_s = 0, x_s = 0;
double x_step = 0, y_step = 0;
if (mview)
{
print_highlight ("Multi-viewport rendering enabled.\n");
if (p_file_indices.size () != 0)
{
y_s = static_cast<int>(floor (sqrt (static_cast<float>(p_file_indices.size ()))));
x_s = y_s + static_cast<int>(ceil ((p_file_indices.size () / static_cast<double>(y_s)) - y_s));
print_highlight ("Preparing to load "); print_value ("%d", p_file_indices.size ());
}
else if (vtk_file_indices.size () != 0)
{
y_s = static_cast<int>(floor (sqrt (static_cast<float>(vtk_file_indices.size ()))));
x_s = y_s + static_cast<int>(ceil ((vtk_file_indices.size () / static_cast<double>(y_s)) - y_s));
print_highlight ("Preparing to load "); print_value ("%d", vtk_file_indices.size ());
}
x_step = static_cast<double>(1.0 / static_cast<double>(x_s));
y_step = static_cast<double>(1.0 / static_cast<double>(y_s));
print_info (" files ("); print_value ("%d", x_s); print_info ("x"); print_value ("%d", y_s);
print_info (" / "); print_value ("%f", x_step); print_info ("x"); print_value ("%f", y_step);
print_info (")\n");
}
// Fix invalid multiple arguments
if (psize.size () != p_file_indices.size () && psize.size () > 0)
for (size_t i = psize.size (); i < p_file_indices.size (); ++i)
psize.push_back (1);
if (opaque.size () != p_file_indices.size () && opaque.size () > 0)
for (size_t i = opaque.size (); i < p_file_indices.size (); ++i)
opaque.push_back (1.0);
// Create the PCLHistogramVisualizer object
pcl::visualization::PCLHistogramVisualizer::Ptr ph;
// Using min_p, max_p to set the global Y min/max range for the histogram
float min_p = FLT_MAX; float max_p = -FLT_MAX;
int k = 0, l = 0, viewport = 0;
// Load the data files
pcl::PCDReader pcd;
pcl::console::TicToc tt;
ColorHandlerPtr color_handler;
GeometryHandlerPtr geometry_handler;
// Go through VTK files
for (size_t i = 0; i < vtk_file_indices.size (); ++i)
{
// Load file
tt.tic ();
print_highlight (stderr, "Loading "); print_value (stderr, "%s ", argv[vtk_file_indices.at (i)]);
vtkPolyDataReader* reader = vtkPolyDataReader::New ();
reader->SetFileName (argv[vtk_file_indices.at (i)]);
reader->Update ();
vtkSmartPointer<vtkPolyData> polydata = reader->GetOutput ();
if (!polydata)
return (-1);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", polydata->GetNumberOfPoints ()); print_info (" points]\n");
// Create the PCLVisualizer object here on the first encountered XYZ file
if (!p)
p.reset (new pcl::visualization::PCLVisualizer (argc, argv, "PCD viewer"));
// Multiview enabled?
if (mview)
{
p->createViewPort (k * x_step, l * y_step, (k + 1) * x_step, (l + 1) * y_step, viewport);
k++;
if (k >= x_s)
{
k = 0;
l++;
}
}
// Add as actor
std::stringstream cloud_name ("vtk-");
cloud_name << argv[vtk_file_indices.at (i)] << "-" << i;
p->addModelFromPolyData (polydata, cloud_name.str (), viewport);
// Change the shape rendered color
if (fcolorparam && fcolor_r.size () > i && fcolor_g.size () > i && fcolor_b.size () > i)
p->setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, fcolor_r[i], fcolor_g[i], fcolor_b[i], cloud_name.str ());
// Change the shape rendered point size
if (psize.size () > 0)
p->setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, psize.at (i), cloud_name.str ());
// Change the shape rendered opacity
if (opaque.size () > 0)
p->setShapeRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opaque.at (i), cloud_name.str ());
}
pcl::PCLPointCloud2::Ptr cloud;
// Go through PCD files
for (size_t i = 0; i < p_file_indices.size (); ++i)
{
cloud.reset (new pcl::PCLPointCloud2);
Eigen::Vector4f origin;
Eigen::Quaternionf orientation;
int version;
print_highlight (stderr, "Loading "); print_value (stderr, "%s ", argv[p_file_indices.at (i)]);
tt.tic ();
if (pcd.read (argv[p_file_indices.at (i)], *cloud, origin, orientation, version) < 0)
return (-1);
std::stringstream cloud_name;
// ---[ Special check for 1-point multi-dimension histograms
if (cloud->fields.size () == 1 && isMultiDimensionalFeatureField (cloud->fields[0]))
{
cloud_name << argv[p_file_indices.at (i)];
if (!ph)
ph.reset (new pcl::visualization::PCLHistogramVisualizer);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud->fields[0].count); print_info (" points]\n");
pcl::getMinMax (*cloud, 0, cloud->fields[0].name, min_p, max_p);
ph->addFeatureHistogram (*cloud, cloud->fields[0].name, cloud_name.str ());
continue;
}
cloud_name << argv[p_file_indices.at (i)] << "-" << i;
// Create the PCLVisualizer object here on the first encountered XYZ file
if (!p)
{
p.reset (new pcl::visualization::PCLVisualizer (argc, argv, "PCD viewer"));
p->registerPointPickingCallback (&pp_callback, (void*)&cloud);
Eigen::Matrix3f rotation;
rotation = orientation;
p->setCameraPosition (origin [0] , origin [1] , origin [2],
origin [0] + rotation (0, 2), origin [1] + rotation (1, 2), origin [2] + rotation (2, 2),
rotation (0, 1), rotation (1, 1), rotation (2, 1));
}
// Multiview enabled?
if (mview)
{
p->createViewPort (k * x_step, l * y_step, (k + 1) * x_step, (l + 1) * y_step, viewport);
k++;
if (k >= x_s)
{
k = 0;
l++;
}
}
if (cloud->width * cloud->height == 0)
{
print_error ("[error: no points found!]\n");
return (-1);
}
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", (int)cloud->width * cloud->height); print_info (" points]\n");
print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (*cloud).c_str ());
// If no color was given, get random colors
if (fcolorparam)
{
if (fcolor_r.size () > i && fcolor_g.size () > i && fcolor_b.size () > i)
color_handler.reset (new pcl::visualization::PointCloudColorHandlerCustom<pcl::PCLPointCloud2> (cloud, fcolor_r[i], fcolor_g[i], fcolor_b[i]));
else
color_handler.reset (new pcl::visualization::PointCloudColorHandlerRandom<pcl::PCLPointCloud2> (cloud));
}
else
color_handler.reset (new pcl::visualization::PointCloudColorHandlerRandom<pcl::PCLPointCloud2> (cloud));
// Add the dataset with a XYZ and a random handler
geometry_handler.reset (new pcl::visualization::PointCloudGeometryHandlerXYZ<pcl::PCLPointCloud2> (cloud));
// Add the cloud to the renderer
//p->addPointCloud<pcl::PointXYZ> (cloud_xyz, geometry_handler, color_handler, cloud_name.str (), viewport);
p->addPointCloud (cloud, geometry_handler, color_handler, origin, orientation, cloud_name.str (), viewport);
// If normal lines are enabled
if (normals != 0)
{
int normal_idx = pcl::getFieldIndex (*cloud, "normal_x");
if (normal_idx == -1)
{
print_error ("Normal information requested but not available.\n");
continue;
//return (-1);
}
//
// Convert from blob to pcl::PointCloud
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz (new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2 (*cloud, *cloud_xyz);
cloud_xyz->sensor_origin_ = origin;
cloud_xyz->sensor_orientation_ = orientation;
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
pcl::fromPCLPointCloud2 (*cloud, *cloud_normals);
std::stringstream cloud_name_normals;
cloud_name_normals << argv[p_file_indices.at (i)] << "-" << i << "-normals";
p->addPointCloudNormals<pcl::PointXYZ, pcl::Normal> (cloud_xyz, cloud_normals, normals, normals_scale, cloud_name_normals.str (), viewport);
}
// If principal curvature lines are enabled
if (pc != 0)
{
if (normals == 0)
normals = pc;
int normal_idx = pcl::getFieldIndex (*cloud, "normal_x");
if (normal_idx == -1)
{
print_error ("Normal information requested but not available.\n");
continue;
//return (-1);
}
int pc_idx = pcl::getFieldIndex (*cloud, "principal_curvature_x");
if (pc_idx == -1)
{
print_error ("Principal Curvature information requested but not available.\n");
continue;
//return (-1);
}
//
// Convert from blob to pcl::PointCloud
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz (new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2 (*cloud, *cloud_xyz);
cloud_xyz->sensor_origin_ = origin;
cloud_xyz->sensor_orientation_ = orientation;
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
pcl::fromPCLPointCloud2 (*cloud, *cloud_normals);
pcl::PointCloud<pcl::PrincipalCurvatures>::Ptr cloud_pc (new pcl::PointCloud<pcl::PrincipalCurvatures>);
pcl::fromPCLPointCloud2 (*cloud, *cloud_pc);
std::stringstream cloud_name_normals_pc;
cloud_name_normals_pc << argv[p_file_indices.at (i)] << "-" << i << "-normals";
int factor = (std::min)(normals, pc);
p->addPointCloudNormals<pcl::PointXYZ, pcl::Normal> (cloud_xyz, cloud_normals, factor, normals_scale, cloud_name_normals_pc.str (), viewport);
p->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, cloud_name_normals_pc.str ());
p->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 3, cloud_name_normals_pc.str ());
cloud_name_normals_pc << "-pc";
p->addPointCloudPrincipalCurvatures<pcl::PointXYZ, pcl::Normal> (cloud_xyz, cloud_normals, cloud_pc, factor, pc_scale, cloud_name_normals_pc.str (), viewport);
p->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_LINE_WIDTH, 3, cloud_name_normals_pc.str ());
}
// Add every dimension as a possible color
if (!fcolorparam)
{
for (size_t f = 0; f < cloud->fields.size (); ++f)
{
if (cloud->fields[f].name == "rgb" || cloud->fields[f].name == "rgba")
color_handler.reset (new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PCLPointCloud2> (cloud));
else
{
if (!isValidFieldName (cloud->fields[f].name))
continue;
color_handler.reset (new pcl::visualization::PointCloudColorHandlerGenericField<pcl::PCLPointCloud2> (cloud, cloud->fields[f].name));
}
// Add the cloud to the renderer
//p->addPointCloud<pcl::PointXYZ> (cloud_xyz, color_handler, cloud_name.str (), viewport);
p->addPointCloud (cloud, color_handler, origin, orientation, cloud_name.str (), viewport);
}
}
// Additionally, add normals as a handler
geometry_handler.reset (new pcl::visualization::PointCloudGeometryHandlerSurfaceNormal<pcl::PCLPointCloud2> (cloud));
if (geometry_handler->isCapable ())
//p->addPointCloud<pcl::PointXYZ> (cloud_xyz, geometry_handler, cloud_name.str (), viewport);
p->addPointCloud (cloud, geometry_handler, origin, orientation, cloud_name.str (), viewport);
// Set immediate mode rendering ON
p->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_IMMEDIATE_RENDERING, 1.0, cloud_name.str ());
// Change the cloud rendered point size
if (psize.size () > 0)
p->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, psize.at (i), cloud_name.str ());
// Change the cloud rendered opacity
if (opaque.size () > 0)
p->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opaque.at (i), cloud_name.str ());
// Reset camera viewpoint to center of cloud if camera parameters were not passed manually and this is the first loaded cloud
//if (i == 0 && !p->cameraParamsSet ())
// p->resetCameraViewpoint (cloud_name.str ());
}
////////////////////////////////////////////////////////////////
// Key binding for saving simulated point cloud:
if (p)
p->registerKeyboardCallback(simulate_callback, (void*)&p);
int width = 640;
int height = 480;
window_width_ = width * 2;
window_height_ = height * 2;
print_info ("Manually generate a simulated RGB-D point cloud using pcl::simulation. For more information, use: %s -h\n", argv[0]);
for (int i=0; i<2048; i++)
{
float v = i/2048.0;
v = powf(v, 3)* 6;
t_gamma[i] = v*6*256;
}
GLenum err = glewInit ();
if (GLEW_OK != err)
{
std::cerr << "Error: " << glewGetErrorString (err) << std::endl;
exit (-1);
}
std::cout << "Status: Using GLEW " << glewGetString (GLEW_VERSION) << std::endl;
if (glewIsSupported ("GL_VERSION_2_0"))
std::cout << "OpenGL 2.0 supported" << std::endl;
else
{
std::cerr << "Error: OpenGL 2.0 not supported" << std::endl;
exit(1);
}
camera_ = Camera::Ptr (new Camera ());
scene_ = Scene::Ptr (new Scene ());
range_likelihood_ = RangeLikelihood::Ptr (new RangeLikelihood(1, 1, height, width, scene_));
// range_likelihood_ = RangeLikelihood::Ptr(new RangeLikelihood(10, 10, 96, 96, scene_));
// range_likelihood_ = RangeLikelihood::Ptr(new RangeLikelihood(1, 1, 480, 640, scene_));
// Actually corresponds to default parameters:
range_likelihood_->setCameraIntrinsicsParameters (640,480, 576.09757860,
576.09757860, 321.06398107, 242.97676897);
range_likelihood_->setComputeOnCPU (false);
range_likelihood_->setSumOnCPU (true);
range_likelihood_->setUseColor (true);
initialize (argc, argv);
if (p)
p->setBackgroundColor (bcolor[0], bcolor[1], bcolor[2]);
// Read axes settings
double axes = 0.0;
pcl::console::parse_argument (argc, argv, "-ax", axes);
if (axes != 0.0 && p)
{
double ax_x = 0.0, ax_y = 0.0, ax_z = 0.0;
pcl::console::parse_3x_arguments (argc, argv, "-ax_pos", ax_x, ax_y, ax_z, false);
// Draw XYZ axes if command-line enabled
p->addCoordinateSystem (axes, ax_x, ax_y, ax_z, "reference");
}
// Clean up the memory used by the binary blob
// Note: avoid resetting the cloud, otherwise the PointPicking callback will fail
//cloud.reset ();
if (ph)
{
print_highlight ("Setting the global Y range for all histograms to: "); print_value ("%f -> %f\n", min_p, max_p);
ph->setGlobalYRange (min_p, max_p);
ph->updateWindowPositions ();
if (p)
p->spin ();
else
ph->spin ();
}
else if (p)
p->spin ();
}