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lum.cpp
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137 lines (118 loc) · 4.88 KB
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012, Jochen Sprickerhof
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*
*/
#include <pcl/console/parse.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/registration/lum.h>
#include <pcl/registration/correspondence_estimation.h>
#include <iostream>
#include <string>
#include <vector>
using PointType = pcl::PointXYZ;
using Cloud = pcl::PointCloud<PointType>;
using CloudConstPtr = Cloud::ConstPtr;
using CloudPtr = Cloud::Ptr;
using CloudPair = std::pair<std::string, CloudPtr>;
using CloudVector = std::vector<CloudPair>;
int
main (int argc, char **argv)
{
double dist = 2.5;
pcl::console::parse_argument (argc, argv, "-d", dist);
int iter = 10;
pcl::console::parse_argument (argc, argv, "-i", iter);
int lumIter = 1;
pcl::console::parse_argument (argc, argv, "-l", lumIter);
double loopDist = 5.0;
pcl::console::parse_argument (argc, argv, "-D", loopDist);
unsigned int loopCount = 20;
pcl::console::parse_argument (argc, argv, "-c", loopCount);
pcl::registration::LUM<PointType> lum;
lum.setMaxIterations (lumIter);
lum.setConvergenceThreshold (0.001f);
std::vector<int> pcd_indices;
pcd_indices = pcl::console::parse_file_extension_argument (argc, argv, ".pcd");
CloudVector clouds;
for (std::size_t i = 0; i < pcd_indices.size (); i++)
{
CloudPtr pc (new Cloud);
pcl::io::loadPCDFile (argv[pcd_indices[i]], *pc);
clouds.emplace_back(argv[pcd_indices[i]], pc);
std::cout << "loading file: " << argv[pcd_indices[i]] << " size: " << pc->size () << std::endl;
lum.addPointCloud (clouds[i].second);
}
for (int i = 0; i < iter; i++)
{
for (std::size_t i = 1; i < clouds.size (); i++)
for (std::size_t j = 0; j < i; j++)
{
Eigen::Vector4f ci, cj;
pcl::compute3DCentroid (*(clouds[i].second), ci);
pcl::compute3DCentroid (*(clouds[j].second), cj);
Eigen::Vector4f diff = ci - cj;
//std::cout << i << " " << j << " " << diff.norm () << std::endl;
if(diff.norm () < loopDist && (i - j == 1 || i - j > loopCount))
{
if(i - j > loopCount)
std::cout << "add connection between " << i << " (" << clouds[i].first << ") and " << j << " (" << clouds[j].first << ")" << std::endl;
pcl::registration::CorrespondenceEstimation<PointType, PointType> ce;
ce.setInputTarget (clouds[i].second);
ce.setInputSource (clouds[j].second);
pcl::CorrespondencesPtr corr (new pcl::Correspondences);
ce.determineCorrespondences (*corr, dist);
if (corr->size () > 2)
lum.setCorrespondences (j, i, corr);
}
}
lum.compute ();
for(std::size_t i = 0; i < lum.getNumVertices (); i++)
{
//std::cout << i << ": " << lum.getTransformation (i) (0, 3) << " " << lum.getTransformation (i) (1, 3) << " " << lum.getTransformation (i) (2, 3) << std::endl;
clouds[i].second = lum.getTransformedCloud (i);
}
}
for(std::size_t i = 0; i < lum.getNumVertices (); i++)
{
std::string result_filename (clouds[i].first);
result_filename = result_filename.substr (result_filename.rfind ('/') + 1);
pcl::io::savePCDFileBinary (result_filename, *(clouds[i].second));
//std::cout << "saving result to " << result_filename << std::endl;
}
return 0;
}