Exemplo n.º 1
0
    // For debugging
    void initializeCFGdebug(const std::string & pcd_name) {
        pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_cfg;
        cloud_cfg.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
        reader.read(pcd_name, *cloud_cfg);
        std::cerr << "PointCloud has: " << cloud_cfg->points.size() << " data points." << std::endl;

        pcl::VoxelGrid<pcl::PointXYZRGB> pvg;
        pvg.setLeafSize(LEAFSIZE, LEAFSIZE, LEAFSIZE);
        pvg.setInputCloud(cloud_cfg);
        pvg.filter(*cloud_cfg);
        std::cout << "PointCloud after prefiltering has: " <<
                cloud_cfg->points.size() << " data points." << std::endl;

        initializeFromCloud(cloud_cfg);
    }
Exemplo n.º 2
0
int
main (int argc, char *argv[])
{
    if ( argc == 3 )
    {
        if (reader.read (argv[1], *scene) < 0)
        {
            std::cout << "Error loading scene cloud." << std::endl;
            exit (0);
        }
        std::string fileName(argv[1]);
        importObjectsInformation(argv[2]);
        displayObjects();
        std::string folderName = createDir(fileName);
        extractPCD(_objectList, folderName);
    }

    else
        std::cout<<"Usage: " << argv[0] << " <filename>.pcd <filename>.xml" << std::endl;

}
void
ExtractionIteration(std::vector<std::string> fileNamesV, fs::path rootFolder)
{   
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr scene(new pcl::PointCloud<pcl::PointXYZRGBA>());
    std::ofstream myfile;
    std::string folder = createDir();
    int i =0;
  //Extract all the objects from all the pcd in the root directory
    std::cout<< "No. of files = " << fileNamesV.size() << std::endl;

    for (std::vector<std::string>::iterator it = fileNamesV.begin(); it != fileNamesV.end(); ++it)
    {   
        std::string pcdFile = *it + ".pcd";
        std::string xmlFile = *it + ".xml";

        if (reader.read (pcdFile, *scene) < 0)
        {
        std::cout << "Error loading scene cloud from : " << pcdFile << std::endl;
        exit (0);
        }

        if(!fs::exists(xmlFile))
        {
        std::cout<<"Corresponding .xml file not found."<<std::endl;
        exit(0);
        }

        importObjectsInformation(xmlFile.c_str());
        //displayObjects();
        std::size_t found = it->find_last_of("/\\");
        std::string filNam = it->substr(found+1);
        extractPCD(_objectList, folder, filNam,  scene); //Extract object clusters as .pcd files into the created directory
        _objectList.clear();


    }
}
Exemplo n.º 4
0
    void initialize(const std::string & pcd_name) {
        // Read in the cloud data
        reader.read(pcd_name, *cloud);
        std::cerr << "PointCloud has: " << cloud->points.size() << " data points." << std::endl;

        // pcl::io::loadPCDFile(pcd_name, *cloud);

        // A passthrough filter to remove spurious NaNs
        pass.setInputCloud(cloud);
        pass.filter(*cloud_filtered);
        std::cout << "PointCloud after filtering has: " <<
                cloud_filtered->points.size() << " data points." << std::endl;

        // Downsample the dataset using a leaf size of 1cm
        vg.setInputCloud(cloud_filtered);
        vg.filter(*cloud_filtered);
        std::cout << "PointCloud after filtering has: " <<
                cloud_filtered->points.size() << " data points." << std::endl;

        // Estimate point normals
        ne.setInputCloud(cloud_filtered);
        ne.compute(*cloud_normals);
        ROS_INFO("%lu normals estimated", cloud_normals->points.size());
    }
Exemplo n.º 5
0
    void initializeFromFilename(const std::string & pcd_name) {
        reader.read(pcd_name, *cloud);
        std::cerr << "PointCloud has: " << cloud->points.size() << " data points." << std::endl;

        initialize(true);
    }
void
CorrespondenceIteration(std::vector<std::string> fileNames, fs::path rootFolder)
{	
	pcl::PointCloud<pcl::PointXYZRGBA>::Ptr scene(new pcl::PointCloud<pcl::PointXYZRGBA>());
	
	std::ofstream myfile;
	std::string resultFile = rootFolder.string() + "/Result.txt";
	myfile.open (resultFile.c_str());

	for (std::vector<std::string>::iterator it = fileNames.begin(); it != fileNames.end(); ++it)
	{
		std::string pcdFile = *it + ".pcd";
		std::string xmlFile = *it + ".xml";

		if (reader.read (pcdFile, *scene) < 0)
 		{
    		std::cout << "Error loading scene cloud." << std::endl;
    		exit (0);
  		}

  	importObjectsInformation(xmlFile.c_str());
 		//displayObjects();
 		createDir(*it);
 		extractPCD(_objectList, *it, scene);
 		_objectList.clear();

 		fs::path models_path( fs::initial_path<fs::path>());
 		models_path = fs::system_complete(fs::path(*it));

 		fs::directory_iterator it_s(rootFolder);
    	fs::directory_iterator endit_s;

    	myfile << "-----------------------------------------------------------------------------------------" << std::endl;
    	myfile << *it << std::endl;
    	myfile << "-----------------------------------------------------------------------------------------" << std::endl;


    	while(it_s != endit_s) //for every scene
    	{  
    		if(fs::is_regular_file(*it_s) && it_s->path().extension() == ".pcd") 
      		{ 
        		std::string scene_filename = rootFolder.string() + it_s->path().filename().string();		
		 		    fs::directory_iterator it_m(models_path);
            fs::directory_iterator endit_m;

        		while(it_m != endit_m) //for every model
        		{  
          		if(fs::is_regular_file(*it_m) && it_m->path().extension() == ".pcd") 
          		{ 
                std::string model_filename = models_path.string() + "/" + it_m->path().filename().string();
            	   // DO CORRESPONDENCE GROUPING
            	   //std::cout << scene_filename << " <<<<<>>>>> " << model_filename << std::endl;
            	   //std::cout << it_s->path().filename().string() << " <<<<<>>>>> " << it_m->path().filename().string() << std::endl;
            	   //std::cout << "scene_" << j << "     model_" << i << "   Correspondence:  " <<  correspondenceGrouping(model_filename,scene_filename) <<std::endl;
            	   keypointExtraction (model_filename,scene_filename);
                 descriptorComputation (); 
                 myfile << it_s->path().filename().string() << " <<<<<--->>>>> " << it_m->path().filename().string()<< "   :  " << correspondenceGrouping(findingCorrespondence()) <<std::endl;
          		}

          		++it_m;
       			}

       		}

       		++it_s;
        }
	}

  	myfile.close();
}