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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.
*
*/
#include <pcl/console/parse.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/registration/ndt.h>
#include <pcl/filters/approximate_voxel_grid.h>
#include <string>
#include <iostream>
#include <vector>
using PointType = pcl::PointXYZ;
using Cloud = pcl::PointCloud<PointType>;
using CloudConstPtr = Cloud::ConstPtr;
using CloudPtr = Cloud::Ptr;
int
main (int argc, char **argv)
{
int iter = 35;
pcl::console::parse_argument (argc, argv, "-i", iter);
float ndt_res = 1.0f;
pcl::console::parse_argument (argc, argv, "-r", ndt_res);
double step_size = 0.1;
pcl::console::parse_argument (argc, argv, "-s", step_size);
double trans_eps = 0.01;
pcl::console::parse_argument (argc, argv, "-t", trans_eps);
float filter_res = 0.2f;
pcl::console::parse_argument (argc, argv, "-f", filter_res);
bool display_help = false;
pcl::console::parse_argument (argc, argv, "--help", display_help);
if (display_help || argc <= 1)
{
std::cout << "Usage: ndt3d [OPTION]... [FILE]..." << std::endl;
std::cout << "Registers PCD files using 3D Normal Distributions Transform algorithm" << std::endl << std::endl;
std::cout << " -i maximum number of iterations" << std::endl;
std::cout << " -r resolution (in meters) of NDT grid" << std::endl;
std::cout << " -s maximum step size (in meters) of newton optimizer" << std::endl;
std::cout << " -t transformation epsilon used for termination condition" << std::endl;
std::cout << " -f voxel filter resolution (in meters) used on source cloud" << std::endl;
std::cout << " --help display this help and exit" << std::endl;
return (0);
}
std::vector<int> pcd_indices;
pcd_indices = pcl::console::parse_file_extension_argument (argc, argv, ".pcd");
CloudPtr model (new Cloud);
if (pcl::io::loadPCDFile (argv[pcd_indices[0]], *model) == -1)
{
std::cout << "Could not read file" << std::endl;
return -1;
}
std::cout << argv[pcd_indices[0]] << " width: " << model->width << " height: " << model->height << std::endl;
std::string result_filename (argv[pcd_indices[0]]);
result_filename = result_filename.substr (result_filename.rfind ('/') + 1);
pcl::io::savePCDFile (result_filename, *model);
std::cout << "saving first model to " << result_filename << std::endl;
Eigen::Matrix4f t (Eigen::Matrix4f::Identity ());
pcl::ApproximateVoxelGrid<PointType> voxel_filter;
voxel_filter.setLeafSize (filter_res, filter_res, filter_res);
for (std::size_t i = 1; i < pcd_indices.size (); i++)
{
CloudPtr data (new Cloud);
if (pcl::io::loadPCDFile (argv[pcd_indices[i]], *data) == -1)
{
std::cout << "Could not read file" << std::endl;
return -1;
}
std::cout << argv[pcd_indices[i]] << " width: " << data->width << " height: " << data->height << std::endl;
auto * ndt = new pcl::NormalDistributionsTransform<PointType, PointType>();
ndt->setMaximumIterations (iter);
ndt->setResolution (ndt_res);
ndt->setStepSize (step_size);
ndt->setTransformationEpsilon (trans_eps);
ndt->setInputTarget (model);
CloudPtr filtered_data (new Cloud);
voxel_filter.setInputCloud (data);
voxel_filter.filter (*filtered_data);
ndt->setInputSource (filtered_data);
CloudPtr tmp (new Cloud);
ndt->align (*tmp);
t *= ndt->getFinalTransformation ();
pcl::transformPointCloud (*data, *tmp, t);
std::cout << ndt->getFinalTransformation () << std::endl;
*model = *data;
std::string result_filename (argv[pcd_indices[i]]);
result_filename = result_filename.substr (result_filename.rfind ('/') + 1);
pcl::io::savePCDFileBinary (result_filename, *tmp);
std::cout << "saving result to " << result_filename << std::endl;
}
return (0);
}
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