void openniCallback(const sensor_msgs::PointCloud2::ConstPtr& cloud)
{
//Define necessary point clouds
pcl17::PointCloud<pcl17::PointXYZRGB>::Ptr model (new pcl17::PointCloud<pcl17::PointXYZRGB> ());
pcl17::PointCloud<pcl17::PointXYZRGB>::Ptr model_keypoints (new pcl17::PointCloud<pcl17::PointXYZRGB> ());
pcl17::PointCloud<pcl17::PointXYZRGB>::Ptr scene (new pcl17::PointCloud<pcl17::PointXYZRGB> ());
pcl17::PointCloud<pcl17::PointXYZRGB>::Ptr scene_keypoints (new pcl17::PointCloud<pcl17::PointXYZRGB> ());
pcl17::PointCloud<pcl17::Normal>::Ptr model_normals (new pcl17::PointCloud<pcl17::Normal> ());
pcl17::PointCloud<pcl17::Normal>::Ptr scene_normals (new pcl17::PointCloud<pcl17::Normal> ());
pcl17::PointCloud<pcl17::SHOT352>::Ptr model_descriptors (new pcl17::PointCloud<pcl17::SHOT352> ());
pcl17::PointCloud<pcl17::SHOT352>::Ptr scene_descriptors (new pcl17::PointCloud<pcl17::SHOT352> ());
//Transform received point cloud to PCL type
pcl17::fromROSMsg(*cloud, *model);
}
int
main (int argc,
char* argv[])
{
//======== 【1】命令行参数解析=================================
parseCommandLine (argc, argv);
//======== 【2】新建必要的 指针变量============================
pcl::PointCloud<PointType>::Ptr model (new pcl::PointCloud<PointType> ());//模型点云
pcl::PointCloud<PointType>::Ptr model_keypoints (new pcl::PointCloud<PointType> ());//模型点云的关键点 点云
pcl::PointCloud<PointType>::Ptr scene (new pcl::PointCloud<PointType> ());//场景点云
pcl::PointCloud<PointType>::Ptr scene_keypoints (new pcl::PointCloud<PointType> ());//场景点云的 关键点 点云
pcl::PointCloud<NormalType>::Ptr model_normals (new pcl::PointCloud<NormalType> ());//模型点云的 法线向量
pcl::PointCloud<NormalType>::Ptr scene_normals (new pcl::PointCloud<NormalType> ());//场景点云的 法线向量
pcl::PointCloud<DescriptorType>::Ptr model_descriptors (new pcl::PointCloud<DescriptorType> ());//模型点云 特征点的 特征描述子
pcl::PointCloud<DescriptorType>::Ptr scene_descriptors (new pcl::PointCloud<DescriptorType> ());//场景点云 特征点的 特征描述子
//=======【3】载入点云=========================================
if (pcl::io::loadPCDFile (model_filename_, *model) < 0)
{
std::cout << "Error loading model cloud." << std::endl;
showHelp (argv[0]);
return (-1);
}
if (pcl::io::loadPCDFile (scene_filename_, *scene) < 0)
{
std::cout << "Error loading scene cloud." << std::endl;
showHelp (argv[0]);
return (-1);
}
//========【5】计算 法向量和曲率 ===========================================
pcl::NormalEstimationOMP<PointType, NormalType> norm_est;//多核 计算法线模型
norm_est.setKSearch (10);//最近10个点 协方差矩阵PCA分解 计算 法线向量
norm_est.setInputCloud (model);//模型点云
norm_est.compute (*model_normals);//模型点云的法线向量
norm_est.setInputCloud (scene);//场景点云
norm_est.compute (*scene_normals);//场景点云的法线向量
//=======【6】下采样滤波使用均匀采样（可以试试体素格子下采样）得到关键点==========
pcl::UniformSampling<PointType> uniform_sampling;//下采样滤波模型
uniform_sampling.setInputCloud (model);//模型点云
uniform_sampling.setRadiusSearch (model_ss_);//模型点云下采样滤波搜索半径
uniform_sampling.filter (*model_keypoints);//下采样得到的关键点
std::cout << "Model total points: " << model->size () << "; Selected Keypoints: "
<< model_keypoints->size () << std::endl;
uniform_sampling.setInputCloud (scene);//场景点云
uniform_sampling.setRadiusSearch (scene_ss_);//场景点云下采样滤波搜索半径
uniform_sampling.filter (*scene_keypoints);//下采样得到的关键点
std::cout << "Scene total points: " << scene->size () << "; Selected Keypoints: "
<< scene_keypoints->size () << std::endl;
//========【7】为keypoints关键点计算SHOT描述子Descriptor=================
pcl::SHOTEstimationOMP<PointType, NormalType, DescriptorType> descr_est;//shot描述子
descr_est.setRadiusSearch (descr_rad_);
descr_est.setInputCloud (model_keypoints);//输入模型的关键点
descr_est.setInputNormals (model_normals);//输入模型的法线
descr_est.setSearchSurface (model);//输入的点云
descr_est.compute (*model_descriptors);//模型点云描述子
descr_est.setInputCloud (scene_keypoints);
descr_est.setInputNormals (scene_normals);
descr_est.setSearchSurface (scene);
descr_est.compute (*scene_descriptors);//场景点云描述子
//========【8】按存储方法KDTree匹配两个点云（描述子向量匹配）点云分组得到匹配的组========
pcl::CorrespondencesPtr model_scene_corrs (new pcl::Correspondences ());//最佳匹配点对组
pcl::KdTreeFLANN<DescriptorType> match_search;//匹配搜索 设置配准的方法
match_search.setInputCloud (model_descriptors);//模型点云描述子
std::vector<int> model_good_keypoints_indices;
std::vector<int> scene_good_keypoints_indices;
// 为 场景点云 的每一个关键点 匹配模型点云一个 描述子最相似的 点 < 0.25f
for (size_t i = 0; i < scene_descriptors->size (); ++i)
{
std::vector<int> neigh_indices (1);//设置最近邻点的索引
std::vector<float> neigh_sqr_dists (1);//申明最近邻平方距离值
if (!pcl_isfinite (scene_descriptors->at (i).descriptor[0]))//跳过NAN点
{
continue;
}
// sscene_descriptors->at (i)是给定点云描述子, 1是临近点个数 ，neigh_indices临近点的索引 neigh_sqr_dists是与临近点的平方距离值
int found_neighs = match_search.nearestKSearch (scene_descriptors->at (i), 1, neigh_indices, neigh_sqr_dists);
if (found_neighs == 1 && neigh_sqr_dists[0] < 0.25f)//（描述子与临近的距离在一般在0到1之间）才添加匹配
//在模型点云中 找 距离 场景点云点i shot描述子距离 <0.25 的点
{
pcl::Correspondence corr (neigh_indices[0], static_cast<int> (i), neigh_sqr_dists[0]);
model_scene_corrs->push_back (corr);
model_good_keypoints_indices.push_back (corr.index_query);//模型点云好的 关键点
scene_good_keypoints_indices.push_back (corr.index_match);//场景点云好的管家的奶奶
}
}
pcl::PointCloud<PointType>::Ptr model_good_kp (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr scene_good_kp (new pcl::PointCloud<PointType> ());
pcl::copyPointCloud (*model_keypoints, model_good_keypoints_indices, *model_good_kp);
pcl::copyPointCloud (*scene_keypoints, scene_good_keypoints_indices, *scene_good_kp);
std::cout << "Correspondences found: " << model_scene_corrs->size () << std::endl;
//===========【9】实际的配准方法的实现 执行聚类================
//变换矩阵 旋转矩阵与平移矩阵
// 对eigen中的固定大小的类使用STL容器的时候，如果直接使用就会出错 需要使用 Eigen::aligned_allocator 对齐技术
std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > rototranslations;
std::vector<pcl::Correspondences> clustered_corrs;//匹配点 相互连线的索引
// clustered_corrs[i][j].index_query 模型点 索引
// clustered_corrs[i][j].index_match 场景点 索引
if (use_hough_)// 使用 Hough3D 3D霍夫 算法寻找匹配点
{
//=========计算参考帧的Hough（也就是关键点）=========
pcl::PointCloud<RFType>::Ptr model_rf (new pcl::PointCloud<RFType> ());
pcl::PointCloud<RFType>::Ptr scene_rf (new pcl::PointCloud<RFType> ());
pcl::BOARDLocalReferenceFrameEstimation<PointType, NormalType, RFType> rf_est;
rf_est.setFindHoles (true);
rf_est.setRadiusSearch (rf_rad_);
rf_est.setInputCloud (model_keypoints);
rf_est.setInputNormals (model_normals);
rf_est.setSearchSurface (model);
rf_est.compute (*model_rf);
rf_est.setInputCloud (scene_keypoints);
rf_est.setInputNormals (scene_normals);
rf_est.setSearchSurface (scene);
rf_est.compute (*scene_rf);
// 聚类 聚类的方法 Clustering
//对输入点与的聚类，以区分不同的实例的场景中的模型
pcl::Hough3DGrouping<PointType, PointType, RFType, RFType> clusterer;
clusterer.setHoughBinSize (cg_size_);
clusterer.setHoughThreshold (cg_thresh_);
clusterer.setUseInterpolation (true);
clusterer.setUseDistanceWeight (false);
clusterer.setInputCloud (model_keypoints);
clusterer.setInputRf (model_rf);
clusterer.setSceneCloud (scene_keypoints);
clusterer.setSceneRf (scene_rf);
clusterer.setModelSceneCorrespondences (model_scene_corrs);
clusterer.recognize (rototranslations, clustered_corrs);
}
else// 或者使用几何一致性性质 Using GeometricConsistency
{
pcl::GeometricConsistencyGrouping<PointType, PointType> gc_clusterer;
gc_clusterer.setGCSize (cg_size_);//设置几何一致性的大小
gc_clusterer.setGCThreshold (cg_thresh_);//阀值
gc_clusterer.setInputCloud (model_keypoints);
gc_clusterer.setSceneCloud (scene_keypoints);
gc_clusterer.setModelSceneCorrespondences (model_scene_corrs);
gc_clusterer.recognize (rototranslations, clustered_corrs);
}
/**
* Stop if no instances
*/
if (rototranslations.size () <= 0)
{
cout << "*** No instances found! ***" << endl;
return (0);
}
else
{
cout << "Recognized Instances: " << rototranslations.size () << endl << endl;
}
/**
* Generates clouds for each instances found
*/
std::vector<pcl::PointCloud<PointType>::ConstPtr> instances;
for (size_t i = 0; i < rototranslations.size (); ++i)
{
pcl::PointCloud<PointType>::Ptr rotated_model (new pcl::PointCloud<PointType> ());
pcl::transformPointCloud (*model, *rotated_model, rototranslations[i]);
instances.push_back (rotated_model);
}
//ICP 点云配准==========================================================
std::vector<pcl::PointCloud<PointType>::ConstPtr> registered_instances;
if (true)
{
cout << "--- ICP ---------" << endl;
for (size_t i = 0; i < rototranslations.size (); ++i)
{
pcl::IterativeClosestPoint<PointType, PointType> icp;
icp.setMaximumIterations (icp_max_iter_);
icp.setMaxCorrespondenceDistance (icp_corr_distance_);
icp.setInputTarget (scene);//场景
icp.setInputSource (instances[i]);//场景中的实例
pcl::PointCloud<PointType>::Ptr registered (new pcl::PointCloud<PointType>);
icp.align (*registered);//匹配到的点云
registered_instances.push_back (registered);
cout << "Instance " << i << " ";
if (icp.hasConverged ())
{
cout << "Aligned!" << endl;
}
else
{
cout << "Not Aligned!" << endl;
}
}
cout << "-----------------" << endl << endl;
}
// 模型假设验证 Hypothesis Verification=====================================
cout << "--- Hypotheses Verification ---" << endl;
std::vector<bool> hypotheses_mask; // Mask Vector to identify positive hypotheses
pcl::GlobalHypothesesVerification<PointType, PointType> GoHv;
GoHv.setSceneCloud (scene); // Scene Cloud
GoHv.addModels (registered_instances, true); //Models to verify
GoHv.setInlierThreshold (hv_inlier_th_);
GoHv.setOcclusionThreshold (hv_occlusion_th_);
GoHv.setRegularizer (hv_regularizer_);
GoHv.setRadiusClutter (hv_rad_clutter_);
GoHv.setClutterRegularizer (hv_clutter_reg_);
GoHv.setDetectClutter (hv_detect_clutter_);
GoHv.setRadiusNormals (hv_rad_normals_);
GoHv.verify ();
GoHv.getMask (hypotheses_mask); // i-element TRUE if hvModels[i] verifies hypotheses
for (int i = 0; i < hypotheses_mask.size (); i++)
{
if (hypotheses_mask[i])
{
cout << "Instance " << i << " is GOOD! <---" << endl;
}
else
{
cout << "Instance " << i << " is bad!" << endl;
}
}
cout << "-------------------------------" << endl;
//======可视化 Visualization====================================================
pcl::visualization::PCLVisualizer viewer ("Hypotheses Verification");
viewer.addPointCloud (scene, "scene_cloud");
pcl::PointCloud<PointType>::Ptr off_scene_model (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr off_scene_model_keypoints (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr off_model_good_kp (new pcl::PointCloud<PointType> ());
pcl::transformPointCloud (*model, *off_scene_model, Eigen::Vector3f (-1, 0, 0), Eigen::Quaternionf (1, 0, 0, 0));
pcl::transformPointCloud (*model_keypoints, *off_scene_model_keypoints, Eigen::Vector3f (-1, 0, 0), Eigen::Quaternionf (1, 0, 0, 0));
pcl::transformPointCloud (*model_good_kp, *off_model_good_kp, Eigen::Vector3f (-1, 0, 0), Eigen::Quaternionf (1, 0, 0, 0));
if (show_keypoints_)
{
CloudStyle modelStyle = style_white;
pcl::visualization::PointCloudColorHandlerCustom<PointType> off_scene_model_color_handler (off_scene_model, modelStyle.r, modelStyle.g, modelStyle.b);
viewer.addPointCloud (off_scene_model, off_scene_model_color_handler, "off_scene_model");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, modelStyle.size, "off_scene_model");
}
if (show_keypoints_)
{
CloudStyle goodKeypointStyle = style_violet;
pcl::visualization::PointCloudColorHandlerCustom<PointType> model_good_keypoints_color_handler (off_model_good_kp, goodKeypointStyle.r, goodKeypointStyle.g,
goodKeypointStyle.b);
viewer.addPointCloud (off_model_good_kp, model_good_keypoints_color_handler, "model_good_keypoints");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, goodKeypointStyle.size, "model_good_keypoints");
pcl::visualization::PointCloudColorHandlerCustom<PointType> scene_good_keypoints_color_handler (scene_good_kp, goodKeypointStyle.r, goodKeypointStyle.g,
goodKeypointStyle.b);
viewer.addPointCloud (scene_good_kp, scene_good_keypoints_color_handler, "scene_good_keypoints");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, goodKeypointStyle.size, "scene_good_keypoints");
}
for (size_t i = 0; i < instances.size (); ++i)
{
std::stringstream ss_instance;
ss_instance << "instance_" << i;
CloudStyle clusterStyle = style_red;
pcl::visualization::PointCloudColorHandlerCustom<PointType> instance_color_handler (instances[i], clusterStyle.r, clusterStyle.g, clusterStyle.b);
viewer.addPointCloud (instances[i], instance_color_handler, ss_instance.str ());
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, clusterStyle.size, ss_instance.str ());
CloudStyle registeredStyles = hypotheses_mask[i] ? style_green : style_cyan;
ss_instance << "_registered" << endl;
pcl::visualization::PointCloudColorHandlerCustom<PointType> registered_instance_color_handler (registered_instances[i], registeredStyles.r,
registeredStyles.g, registeredStyles.b);
viewer.addPointCloud (registered_instances[i], registered_instance_color_handler, ss_instance.str ());
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, registeredStyles.size, ss_instance.str ());
}
while (!viewer.wasStopped ())
{
viewer.spinOnce ();
}
return (0);
}
int
main (int argc,
char *argv[])
{
parseCommandLine (argc, argv);
pcl::PointCloud<PointType>::Ptr model (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr model_keypoints (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr scene (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr scene_keypoints (new pcl::PointCloud<PointType> ());
pcl::PointCloud<NormalType>::Ptr model_normals (new pcl::PointCloud<NormalType> ());
pcl::PointCloud<NormalType>::Ptr scene_normals (new pcl::PointCloud<NormalType> ());
pcl::PointCloud<DescriptorType>::Ptr model_descriptors (new pcl::PointCloud<DescriptorType> ());
pcl::PointCloud<DescriptorType>::Ptr scene_descriptors (new pcl::PointCloud<DescriptorType> ());
/**
* Load Clouds
*/
if (pcl::io::loadPCDFile (model_filename_, *model) < 0)
{
std::cout << "Error loading model cloud." << std::endl;
showHelp (argv[0]);
return (-1);
}
if (pcl::io::loadPCDFile (scene_filename_, *scene) < 0)
{
std::cout << "Error loading scene cloud." << std::endl;
showHelp (argv[0]);
return (-1);
}
/**
* Compute Normals
*/
pcl::NormalEstimationOMP<PointType, NormalType> norm_est;
norm_est.setKSearch (10);
norm_est.setInputCloud (model);
norm_est.compute (*model_normals);
norm_est.setInputCloud (scene);
norm_est.compute (*scene_normals);
/**
* Downsample Clouds to Extract keypoints
*/
pcl::UniformSampling<PointType> uniform_sampling;
uniform_sampling.setInputCloud (model);
uniform_sampling.setRadiusSearch (model_ss_);
uniform_sampling.filter (*model_keypoints);
std::cout << "Model total points: " << model->size () << "; Selected Keypoints: " << model_keypoints->size () << std::endl;
uniform_sampling.setInputCloud (scene);
uniform_sampling.setRadiusSearch (scene_ss_);
uniform_sampling.filter (*scene_keypoints);
std::cout << "Scene total points: " << scene->size () << "; Selected Keypoints: " << scene_keypoints->size () << std::endl;
/**
* Compute Descriptor for keypoints
*/
pcl::SHOTEstimationOMP<PointType, NormalType, DescriptorType> descr_est;
descr_est.setRadiusSearch (descr_rad_);
descr_est.setInputCloud (model_keypoints);
descr_est.setInputNormals (model_normals);
descr_est.setSearchSurface (model);
descr_est.compute (*model_descriptors);
descr_est.setInputCloud (scene_keypoints);
descr_est.setInputNormals (scene_normals);
descr_est.setSearchSurface (scene);
descr_est.compute (*scene_descriptors);
/**
* Find Model-Scene Correspondences with KdTree
*/
pcl::CorrespondencesPtr model_scene_corrs (new pcl::Correspondences ());
pcl::KdTreeFLANN<DescriptorType> match_search;
match_search.setInputCloud (model_descriptors);
std::vector<int> model_good_keypoints_indices;
std::vector<int> scene_good_keypoints_indices;
for (size_t i = 0; i < scene_descriptors->size (); ++i)
{
std::vector<int> neigh_indices (1);
std::vector<float> neigh_sqr_dists (1);
if (!pcl_isfinite (scene_descriptors->at (i).descriptor[0])) //skipping NaNs
{
continue;
}
int found_neighs = match_search.nearestKSearch (scene_descriptors->at (i), 1, neigh_indices, neigh_sqr_dists);
if (found_neighs == 1 && neigh_sqr_dists[0] < 0.25f)
{
pcl::Correspondence corr (neigh_indices[0], static_cast<int> (i), neigh_sqr_dists[0]);
model_scene_corrs->push_back (corr);
model_good_keypoints_indices.push_back (corr.index_query);
scene_good_keypoints_indices.push_back (corr.index_match);
}
}
pcl::PointCloud<PointType>::Ptr model_good_kp (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr scene_good_kp (new pcl::PointCloud<PointType> ());
pcl::copyPointCloud (*model_keypoints, model_good_keypoints_indices, *model_good_kp);
pcl::copyPointCloud (*scene_keypoints, scene_good_keypoints_indices, *scene_good_kp);
std::cout << "Correspondences found: " << model_scene_corrs->size () << std::endl;
/**
* Clustering
*/
std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > rototranslations;
std::vector < pcl::Correspondences > clustered_corrs;
if (use_hough_)
{
pcl::PointCloud<RFType>::Ptr model_rf (new pcl::PointCloud<RFType> ());
pcl::PointCloud<RFType>::Ptr scene_rf (new pcl::PointCloud<RFType> ());
pcl::BOARDLocalReferenceFrameEstimation<PointType, NormalType, RFType> rf_est;
rf_est.setFindHoles (true);
rf_est.setRadiusSearch (rf_rad_);
rf_est.setInputCloud (model_keypoints);
rf_est.setInputNormals (model_normals);
rf_est.setSearchSurface (model);
rf_est.compute (*model_rf);
rf_est.setInputCloud (scene_keypoints);
rf_est.setInputNormals (scene_normals);
rf_est.setSearchSurface (scene);
rf_est.compute (*scene_rf);
// Clustering
pcl::Hough3DGrouping<PointType, PointType, RFType, RFType> clusterer;
clusterer.setHoughBinSize (cg_size_);
clusterer.setHoughThreshold (cg_thresh_);
clusterer.setUseInterpolation (true);
clusterer.setUseDistanceWeight (false);
clusterer.setInputCloud (model_keypoints);
clusterer.setInputRf (model_rf);
clusterer.setSceneCloud (scene_keypoints);
clusterer.setSceneRf (scene_rf);
clusterer.setModelSceneCorrespondences (model_scene_corrs);
clusterer.recognize (rototranslations, clustered_corrs);
}
else
{
pcl::GeometricConsistencyGrouping<PointType, PointType> gc_clusterer;
gc_clusterer.setGCSize (cg_size_);
gc_clusterer.setGCThreshold (cg_thresh_);
gc_clusterer.setInputCloud (model_keypoints);
gc_clusterer.setSceneCloud (scene_keypoints);
gc_clusterer.setModelSceneCorrespondences (model_scene_corrs);
gc_clusterer.recognize (rototranslations, clustered_corrs);
}
/**
* Stop if no instances
*/
if (rototranslations.size () <= 0)
{
cout << "*** No instances found! ***" << endl;
return (0);
}
else
{
cout << "Recognized Instances: " << rototranslations.size () << endl << endl;
}
/**
* Generates clouds for each instances found
*/
std::vector<pcl::PointCloud<PointType>::ConstPtr> instances;
for (size_t i = 0; i < rototranslations.size (); ++i)
{
pcl::PointCloud<PointType>::Ptr rotated_model (new pcl::PointCloud<PointType> ());
pcl::transformPointCloud (*model, *rotated_model, rototranslations[i]);
instances.push_back (rotated_model);
}
/**
* ICP
*/
std::vector<pcl::PointCloud<PointType>::ConstPtr> registered_instances;
if (true)
{
cout << "--- ICP ---------" << endl;
for (size_t i = 0; i < rototranslations.size (); ++i)
{
pcl::IterativeClosestPoint<PointType, PointType> icp;
icp.setMaximumIterations (icp_max_iter_);
icp.setMaxCorrespondenceDistance (icp_corr_distance_);
icp.setInputTarget (scene);
icp.setInputSource (instances[i]);
pcl::PointCloud<PointType>::Ptr registered (new pcl::PointCloud<PointType>);
icp.align (*registered);
registered_instances.push_back (registered);
cout << "Instance " << i << " ";
if (icp.hasConverged ())
{
cout << "Aligned!" << endl;
}
else
{
cout << "Not Aligned!" << endl;
}
}
cout << "-----------------" << endl << endl;
}
/**
* Hypothesis Verification
*/
cout << "--- Hypotheses Verification ---" << endl;
std::vector<bool> hypotheses_mask; // Mask Vector to identify positive hypotheses
pcl::GlobalHypothesesVerification<PointType, PointType> GoHv;
GoHv.setSceneCloud (scene); // Scene Cloud
GoHv.addModels (registered_instances, true); //Models to verify
GoHv.setInlierThreshold (hv_inlier_th_);
GoHv.setOcclusionThreshold (hv_occlusion_th_);
GoHv.setRegularizer (hv_regularizer_);
GoHv.setRadiusClutter (hv_rad_clutter_);
GoHv.setClutterRegularizer (hv_clutter_reg_);
GoHv.setDetectClutter (hv_detect_clutter_);
GoHv.setRadiusNormals (hv_rad_normals_);
GoHv.verify ();
GoHv.getMask (hypotheses_mask); // i-element TRUE if hvModels[i] verifies hypotheses
for (int i = 0; i < hypotheses_mask.size (); i++)
{
if (hypotheses_mask[i])
{
cout << "Instance " << i << " is GOOD! <---" << endl;
}
else
{
cout << "Instance " << i << " is bad!" << endl;
}
}
cout << "-------------------------------" << endl;
/**
* Visualization
*/
pcl::visualization::PCLVisualizer viewer ("Hypotheses Verification");
viewer.addPointCloud (scene, "scene_cloud");
pcl::PointCloud<PointType>::Ptr off_scene_model (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr off_scene_model_keypoints (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr off_model_good_kp (new pcl::PointCloud<PointType> ());
pcl::transformPointCloud (*model, *off_scene_model, Eigen::Vector3f (-1, 0, 0), Eigen::Quaternionf (1, 0, 0, 0));
pcl::transformPointCloud (*model_keypoints, *off_scene_model_keypoints, Eigen::Vector3f (-1, 0, 0), Eigen::Quaternionf (1, 0, 0, 0));
pcl::transformPointCloud (*model_good_kp, *off_model_good_kp, Eigen::Vector3f (-1, 0, 0), Eigen::Quaternionf (1, 0, 0, 0));
if (show_keypoints_)
{
CloudStyle modelStyle = style_white;
pcl::visualization::PointCloudColorHandlerCustom<PointType> off_scene_model_color_handler (off_scene_model, modelStyle.r, modelStyle.g, modelStyle.b);
viewer.addPointCloud (off_scene_model, off_scene_model_color_handler, "off_scene_model");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, modelStyle.size, "off_scene_model");
}
if (show_keypoints_)
{
CloudStyle goodKeypointStyle = style_violet;
pcl::visualization::PointCloudColorHandlerCustom<PointType> model_good_keypoints_color_handler (off_model_good_kp, goodKeypointStyle.r, goodKeypointStyle.g,
goodKeypointStyle.b);
viewer.addPointCloud (off_model_good_kp, model_good_keypoints_color_handler, "model_good_keypoints");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, goodKeypointStyle.size, "model_good_keypoints");
pcl::visualization::PointCloudColorHandlerCustom<PointType> scene_good_keypoints_color_handler (scene_good_kp, goodKeypointStyle.r, goodKeypointStyle.g,
goodKeypointStyle.b);
viewer.addPointCloud (scene_good_kp, scene_good_keypoints_color_handler, "scene_good_keypoints");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, goodKeypointStyle.size, "scene_good_keypoints");
}
for (size_t i = 0; i < instances.size (); ++i)
{
std::stringstream ss_instance;
ss_instance << "instance_" << i;
CloudStyle clusterStyle = style_red;
pcl::visualization::PointCloudColorHandlerCustom<PointType> instance_color_handler (instances[i], clusterStyle.r, clusterStyle.g, clusterStyle.b);
viewer.addPointCloud (instances[i], instance_color_handler, ss_instance.str ());
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, clusterStyle.size, ss_instance.str ());
CloudStyle registeredStyles = hypotheses_mask[i] ? style_green : style_cyan;
ss_instance << "_registered" << endl;
pcl::visualization::PointCloudColorHandlerCustom<PointType> registered_instance_color_handler (registered_instances[i], registeredStyles.r,
registeredStyles.g, registeredStyles.b);
viewer.addPointCloud (registered_instances[i], registered_instance_color_handler, ss_instance.str ());
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, registeredStyles.size, ss_instance.str ());
}
while (!viewer.wasStopped ())
{
viewer.spinOnce ();
}
return (0);
}
int
main (int argc, char *argv[])
{
parseCommandLine (argc, argv);
pcl::PointCloud<PointType>::Ptr model (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr model_keypoints (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr scene (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr scene_keypoints (new pcl::PointCloud<PointType> ());
pcl::PointCloud<NormalType>::Ptr model_normals (new pcl::PointCloud<NormalType> ());
pcl::PointCloud<NormalType>::Ptr scene_normals (new pcl::PointCloud<NormalType> ());
pcl::PointCloud<DescriptorType>::Ptr model_descriptors (new pcl::PointCloud<DescriptorType> ());
pcl::PointCloud<DescriptorType>::Ptr scene_descriptors (new pcl::PointCloud<DescriptorType> ());
//
// Load clouds
//
if (pcl::io::loadPCDFile (model_filename_, *model) < 0)
{
std::cout << "Error loading model cloud." << std::endl;
showHelp (argv[0]);
return (-1);
}
if (pcl::io::loadPCDFile (scene_filename_, *scene) < 0)
{
std::cout << "Error loading scene cloud." << std::endl;
showHelp (argv[0]);
return (-1);
}
//
// Set up resolution invariance
//
if (use_cloud_resolution_)
{
float resolution = static_cast<float> (computeCloudResolution (model));
if (resolution != 0.0f)
{
model_ss_ *= resolution;
scene_ss_ *= resolution;
rf_rad_ *= resolution;
descr_rad_ *= resolution;
cg_size_ *= resolution;
}
std::cout << "Model resolution: " << resolution << std::endl;
std::cout << "Model sampling size: " << model_ss_ << std::endl;
std::cout << "Scene sampling size: " << scene_ss_ << std::endl;
std::cout << "LRF support radius: " << rf_rad_ << std::endl;
std::cout << "SHOT descriptor radius: " << descr_rad_ << std::endl;
std::cout << "Clustering bin size: " << cg_size_ << std::endl << std::endl;
}
//
// Compute Normals
//
pcl::NormalEstimationOMP<PointType, NormalType> norm_est;
norm_est.setKSearch (10);
norm_est.setInputCloud (model);
norm_est.compute (*model_normals);
norm_est.setInputCloud (scene);
norm_est.compute (*scene_normals);
//
// Downsample Clouds to Extract keypoints
//
/*
pcl::UniformSampling<PointType> uniform_sampling;
uniform_sampling.setInputCloud (model);
uniform_sampling.setRadiusSearch (model_ss_);
uniform_sampling.filter (*model_keypoints);
std::cout << "Model total points: " << model->size () << "; Selected Keypoints: " << model_keypoints->size () << std::endl;
uniform_sampling.setInputCloud (scene);
uniform_sampling.setRadiusSearch (scene_ss_);
uniform_sampling.filter (*scene_keypoints);
std::cout << "Scene total points: " << scene->size () << "; Selected Keypoints: " << scene_keypoints->size () << std::endl;
*/
pcl::UniformSampling<PointType> uniform_sampling;
uniform_sampling.setInputCloud (model);
uniform_sampling.setRadiusSearch (model_ss_);
//uniform_sampling.filter (*model_keypoints);
pcl::PointCloud<int> keypointIndices1;
uniform_sampling.compute(keypointIndices1);
pcl::copyPointCloud(*model, keypointIndices1.points, *model_keypoints);
std::cout << "Model total points: " << model->size () << "; Selected Keypoints: " << model_keypoints->size () << std::endl;
uniform_sampling.setInputCloud (scene);
uniform_sampling.setRadiusSearch (scene_ss_);
//uniform_sampling.filter (*scene_keypoints);
pcl::PointCloud<int> keypointIndices2;
uniform_sampling.compute(keypointIndices2);
pcl::copyPointCloud(*scene, keypointIndices2.points, *scene_keypoints);
std::cout << "Scene total points: " << scene->size () << "; Selected Keypoints: " << scene_keypoints->size () << std::endl;
//
// Compute Descriptor for keypoints
//
pcl::SHOTEstimationOMP<PointType, NormalType, DescriptorType> descr_est;
descr_est.setRadiusSearch (descr_rad_);
descr_est.setInputCloud (model_keypoints);
descr_est.setInputNormals (model_normals);
descr_est.setSearchSurface (model);
descr_est.compute (*model_descriptors);
descr_est.setInputCloud (scene_keypoints);
descr_est.setInputNormals (scene_normals);
descr_est.setSearchSurface (scene);
descr_est.compute (*scene_descriptors);
//
// Find Model-Scene Correspondences with KdTree
//
pcl::CorrespondencesPtr model_scene_corrs (new pcl::Correspondences ());
pcl::KdTreeFLANN<DescriptorType> match_search;
match_search.setInputCloud (model_descriptors);
// For each scene keypoint descriptor, find nearest neighbor into the model keypoints descriptor cloud and add it to the correspondences vector.
for (size_t i = 0; i < scene_descriptors->size (); ++i)
{
std::vector<int> neigh_indices (1);
std::vector<float> neigh_sqr_dists (1);
if (!pcl_isfinite (scene_descriptors->at (i).descriptor[0])) //skipping NaNs
{
continue;
}
int found_neighs = match_search.nearestKSearch (scene_descriptors->at (i), 1, neigh_indices, neigh_sqr_dists);
if(found_neighs == 1 && neigh_sqr_dists[0] < 0.25f) // add match only if the squared descriptor distance is less than 0.25 (SHOT descriptor distances are between 0 and 1 by design)
{
pcl::Correspondence corr (neigh_indices[0], static_cast<int> (i), neigh_sqr_dists[0]);
model_scene_corrs->push_back (corr);
}
}
std::cout << "Correspondences found: " << model_scene_corrs->size () << std::endl;
//
// Actual Clustering
//
std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > rototranslations;
std::vector<pcl::Correspondences> clustered_corrs;
// Using Hough3D
if (use_hough_)
{
//
// Compute (Keypoints) Reference Frames only for Hough
//
pcl::PointCloud<RFType>::Ptr model_rf (new pcl::PointCloud<RFType> ());
pcl::PointCloud<RFType>::Ptr scene_rf (new pcl::PointCloud<RFType> ());
pcl::BOARDLocalReferenceFrameEstimation<PointType, NormalType, RFType> rf_est;
rf_est.setFindHoles (true);
rf_est.setRadiusSearch (rf_rad_);
rf_est.setInputCloud (model_keypoints);
rf_est.setInputNormals (model_normals);
rf_est.setSearchSurface (model);
rf_est.compute (*model_rf);
rf_est.setInputCloud (scene_keypoints);
rf_est.setInputNormals (scene_normals);
rf_est.setSearchSurface (scene);
rf_est.compute (*scene_rf);
// Clustering
pcl::Hough3DGrouping<PointType, PointType, RFType, RFType> clusterer;
clusterer.setHoughBinSize (cg_size_);
clusterer.setHoughThreshold (cg_thresh_);
clusterer.setUseInterpolation (true);
clusterer.setUseDistanceWeight (false);
clusterer.setInputCloud (model_keypoints);
clusterer.setInputRf (model_rf);
clusterer.setSceneCloud (scene_keypoints);
clusterer.setSceneRf (scene_rf);
clusterer.setModelSceneCorrespondences (model_scene_corrs);
//clusterer.cluster (clustered_corrs);
clusterer.recognize (rototranslations, clustered_corrs);
}
else // Using GeometricConsistency
{
pcl::GeometricConsistencyGrouping<PointType, PointType> gc_clusterer;
gc_clusterer.setGCSize (cg_size_);
gc_clusterer.setGCThreshold (cg_thresh_);
gc_clusterer.setInputCloud (model_keypoints);
gc_clusterer.setSceneCloud (scene_keypoints);
gc_clusterer.setModelSceneCorrespondences (model_scene_corrs);
//gc_clusterer.cluster (clustered_corrs);
gc_clusterer.recognize (rototranslations, clustered_corrs);
}
//
// Output results
//
std::cout << "Model instances found: " << rototranslations.size () << std::endl;
for (size_t i = 0; i < rototranslations.size (); ++i)
{
std::cout << "\n Instance " << i + 1 << ":" << std::endl;
std::cout << " Correspondences belonging to this instance: " << clustered_corrs[i].size () << std::endl;
// Print the rotation matrix and translation vector
Eigen::Matrix3f rotation = rototranslations[i].block<3,3>(0, 0);
Eigen::Vector3f translation = rototranslations[i].block<3,1>(0, 3);
printf ("\n");
printf (" | %6.3f %6.3f %6.3f | \n", rotation (0,0), rotation (0,1), rotation (0,2));
printf (" R = | %6.3f %6.3f %6.3f | \n", rotation (1,0), rotation (1,1), rotation (1,2));
printf (" | %6.3f %6.3f %6.3f | \n", rotation (2,0), rotation (2,1), rotation (2,2));
printf ("\n");
printf (" t = < %0.3f, %0.3f, %0.3f >\n", translation (0), translation (1), translation (2));
}
//
// Visualization
//
pcl::visualization::PCLVisualizer viewer ("Correspondence Grouping");
viewer.addPointCloud (scene, "scene_cloud");
pcl::PointCloud<PointType>::Ptr off_scene_model (new pcl::PointCloud<PointType> ());
pcl::PointCloud<PointType>::Ptr off_scene_model_keypoints (new pcl::PointCloud<PointType> ());
if (show_correspondences_ || show_keypoints_)
{
// We are translating the model so that it doesn't end in the middle of the scene representation
pcl::transformPointCloud (*model, *off_scene_model, Eigen::Vector3f (-1,0,0), Eigen::Quaternionf (1, 0, 0, 0));
pcl::transformPointCloud (*model_keypoints, *off_scene_model_keypoints, Eigen::Vector3f (-1,0,0), Eigen::Quaternionf (1, 0, 0, 0));
pcl::visualization::PointCloudColorHandlerCustom<PointType> off_scene_model_color_handler (off_scene_model, 255, 255, 128);
viewer.addPointCloud (off_scene_model, off_scene_model_color_handler, "off_scene_model");
}
if (show_keypoints_)
{
pcl::visualization::PointCloudColorHandlerCustom<PointType> scene_keypoints_color_handler (scene_keypoints, 0, 0, 255);
viewer.addPointCloud (scene_keypoints, scene_keypoints_color_handler, "scene_keypoints");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "scene_keypoints");
pcl::visualization::PointCloudColorHandlerCustom<PointType> off_scene_model_keypoints_color_handler (off_scene_model_keypoints, 0, 0, 255);
viewer.addPointCloud (off_scene_model_keypoints, off_scene_model_keypoints_color_handler, "off_scene_model_keypoints");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "off_scene_model_keypoints");
}
for (size_t i = 0; i < rototranslations.size (); ++i)
{
pcl::PointCloud<PointType>::Ptr rotated_model (new pcl::PointCloud<PointType> ());
pcl::transformPointCloud (*model, *rotated_model, rototranslations[i]);
std::stringstream ss_cloud;
ss_cloud << "instance" << i;
pcl::visualization::PointCloudColorHandlerCustom<PointType> rotated_model_color_handler (rotated_model, 255, 0, 0);
viewer.addPointCloud (rotated_model, rotated_model_color_handler, ss_cloud.str ());
if (show_correspondences_)
{
for (size_t j = 0; j < clustered_corrs[i].size (); ++j)
{
std::stringstream ss_line;
ss_line << "correspondence_line" << i << "_" << j;
PointType& model_point = off_scene_model_keypoints->at (clustered_corrs[i][j].index_query);
PointType& scene_point = scene_keypoints->at (clustered_corrs[i][j].index_match);
// We are drawing a line for each pair of clustered correspondences found between the model and the scene
viewer.addLine<PointType, PointType> (model_point, scene_point, 0, 255, 0, ss_line.str ());
}
}
}
while (!viewer.wasStopped ())
{
viewer.spinOnce ();
}
return (0);
}
