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/*
* Software License Agreement (BSD License)
*
* 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/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <pcl/recognition/linemod.h>
#include <pcl/recognition/color_gradient_modality.h>
#include <pcl/recognition/surface_normal_modality.h>
//#include <png++/png.hpp>
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
using PointCloudXYZRGBA = pcl::PointCloud<pcl::PointXYZRGBA>;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input_cloud.pcd input_template.lmt\n", argv[0]);
}
void printElapsedTimeAndNumberOfPoints (double t, int w, int h=1)
{
print_info ("[done, "); print_value ("%g", t); print_info (" ms : ");
print_value ("%d", w*h); print_info (" points]\n");
}
bool
loadCloud (const std::string & filename, PointCloudXYZRGBA & cloud)
{
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
tt.tic ();
if (loadPCDFile (filename, cloud) < 0)
return (false);
printElapsedTimeAndNumberOfPoints (tt.toc (), cloud.width, cloud.height);
print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
return (true);
}
std::vector<pcl::LINEMODDetection>
matchTemplates (const PointCloudXYZRGBA::ConstPtr & input, const pcl::LINEMOD & linemod)
{
pcl::ColorGradientModality<pcl::PointXYZRGBA> color_grad_mod;
color_grad_mod.setInputCloud (input);
color_grad_mod.processInputData ();
pcl::SurfaceNormalModality<pcl::PointXYZRGBA> surface_norm_mod;
surface_norm_mod.setInputCloud (input);
surface_norm_mod.processInputData ();
std::vector<pcl::QuantizableModality*> modalities (2);
modalities[0] = &color_grad_mod;
modalities[1] = &surface_norm_mod;
std::vector<pcl::LINEMODDetection> detections;
linemod.matchTemplates (modalities, detections);
return (detections);
}
void
compute (const PointCloudXYZRGBA::ConstPtr & input, const char * templates_filename)
{
pcl::LINEMOD linemod;
// Load the templates from disk
linemod.loadTemplates (templates_filename);
// Match the templates to the provided image
std::vector<pcl::LINEMODDetection> detections = matchTemplates (input, linemod);
// Output the position and score of the best match for each template
for (std::size_t i = 0; i < detections.size (); ++i)
{
const LINEMODDetection & d = detections[i];
printf ("%lu: %d %d %d %f\n", i, d.x, d.y, d.template_id, d.score);
}
/*// Visualization code for testing purposes (requires libpng++)
int i = 0;
png::image<png::rgb_pixel> image (640, 480);
for (std::size_t y = 0; y < image.get_height (); ++y)
{
for (std::size_t x = 0; x < image.get_width (); ++x)
{
const pcl::PointXYZRGBA & p = (*input)[i++];
image[y][x] = png::rgb_pixel(p.r, p.g, p.b);
}
}
// Draw a green box around the object
for (std::size_t i = 0; i < detections.size (); ++i)
{
const LINEMODDetection & d = detections[i];
if (d.score < 0.6)
continue;
const pcl::SparseQuantizedMultiModTemplate & tmplt = linemod.getTemplate (d.template_id);
int w = tmplt.region.width;
int h = tmplt.region.height;
for (int x = d.x; x < d.x+w; ++x)
{
image[d.y][x] = png::rgb_pixel(0, 255, 0);
image[d.y+h-1][x] = png::rgb_pixel(0, 255, 0);
}
for (int y = d.y; y < d.y+h; ++y)
{
image[y][d.x] = png::rgb_pixel(0, 255, 0);
image[y][d.x+w-1] = png::rgb_pixel(0, 255, 0);
}
}
image.write("output.png");
*/
}
/* ---[ */
int
main (int argc, char** argv)
{
print_info ("Match a LINE-MOD template to an organized point cloud. For more information, use: %s -h\n", argv[0]);
if (argc < 2)
{
printHelp (argc, argv);
return (-1);
}
// Load the input point cloud from the provided PCD file
PointCloudXYZRGBA::Ptr cloud (new PointCloudXYZRGBA);
if (!loadCloud (argv[1], *cloud))
return (-1);
// Load the specified templates and match them to the provided input cloud
compute (cloud, argv[2]);
}
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