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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2011, Willow Garage, Inc.
*
* 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/common/transforms.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/elch.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>;
bool
loopDetection (int end, const CloudVector &clouds, double dist, int &first, int &last)
{
static double min_dist = -1;
int state = 0;
for (int i = end-1; i > 0; i--)
{
Eigen::Vector4f cstart, cend;
//TODO use pose of scan
pcl::compute3DCentroid (*(clouds[i].second), cstart);
pcl::compute3DCentroid (*(clouds[end].second), cend);
Eigen::Vector4f diff = cend - cstart;
double norm = diff.norm ();
//std::cout << "distance between " << i << " and " << end << " is " << norm << " state is " << state << std::endl;
if (state == 0 && norm > dist)
{
state = 1;
//std::cout << "state 1" << std::endl;
}
if (state > 0 && norm < dist)
{
state = 2;
//std::cout << "loop detected between scan " << i << " (" << clouds[i].first << ") and scan " << end << " (" << clouds[end].first << ")" << std::endl;
if (min_dist < 0 || norm < min_dist)
{
min_dist = norm;
first = i;
last = end;
}
}
}
//std::cout << "min_dist: " << min_dist << " state: " << state << " first: " << first << " end: " << end << std::endl;
if (min_dist > 0 && (state < 2 || end == int (clouds.size ()) - 1)) //TODO
{
min_dist = -1;
return true;
}
return false;
}
int
main (int argc, char **argv)
{
double dist = 0.1;
pcl::console::parse_argument (argc, argv, "-d", dist);
double rans = 0.1;
pcl::console::parse_argument (argc, argv, "-r", rans);
int iter = 100;
pcl::console::parse_argument (argc, argv, "-i", iter);
pcl::registration::ELCH<PointType> elch;
pcl::IterativeClosestPoint<PointType, PointType>::Ptr icp (new pcl::IterativeClosestPoint<PointType, PointType>);
icp->setMaximumIterations (iter);
icp->setMaxCorrespondenceDistance (dist);
icp->setRANSACOutlierRejectionThreshold (rans);
elch.setReg (icp);
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.push_back (CloudPair (argv[pcd_indices[i]], pc));
std::cout << "loading file: " << argv[pcd_indices[i]] << " size: " << pc->size () << std::endl;
elch.addPointCloud (clouds[i].second);
}
int first = 0, last = 0;
for (std::size_t i = 0; i < clouds.size (); i++)
{
if (loopDetection (int (i), clouds, 3.0, first, last))
{
std::cout << "Loop between " << first << " (" << clouds[first].first << ") and " << last << " (" << clouds[last].first << ")" << std::endl;
elch.setLoopStart (first);
elch.setLoopEnd (last);
elch.compute ();
}
}
for (const auto &cloud : clouds)
{
std::string result_filename (cloud.first);
result_filename = result_filename.substr (result_filename.rfind ('/') + 1);
pcl::io::savePCDFileBinary (result_filename, *(cloud.second));
std::cout << "saving result to " << result_filename << std::endl;
}
return 0;
}
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