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00035 #ifndef NDTFRAME_HH
00036 #define NDTFRAME_HH
00037
00038 #include "pcl/point_cloud.h"
00039 #include "pcl/point_types.h"
00040 #include "pcl/io/pcd_io.h"
00041 #include "pcl/features/feature.h"
00042 #include "pcl/registration/icp.h"
00043 #include "pcl/filters/voxel_grid.h"
00044 #include "opencv2/core/core.hpp"
00045
00046 #include <cell_vector.h>
00047 #include <ndt_map.h>
00048 #include <depth_camera.h>
00049
00050 #include <ndt_feature_reg/ndt_frame_tools.h>
00051 #include <pointcloud_utils.h>
00052
00053 namespace ndt_feature_reg
00054 {
00055 inline
00056 double getDoubleTime(struct timeval& time)
00057 {
00058 return time.tv_sec + time.tv_usec * 1e-6;
00059 }
00060
00061 inline
00062 double getDoubleTime()
00063 {
00064 struct timeval time;
00065 gettimeofday(&time,NULL);
00066 return getDoubleTime(time);
00067 }
00068
00069 template <typename PointT>
00070 class NDTFrame
00071 {
00072 public:
00073 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00074 public:
00075 NDTFrame() : supportSize(3),maxVar(0.3),current_res(0.2)
00076 {
00077 ndt_map = lslgeneric::NDTMap<PointT>(&idx_prototype);
00078 }
00079 virtual ~NDTFrame()
00080 {
00081 }
00082 NDTFrame(const NDTFrame &other)
00083 {
00084 other.img.copyTo(img);
00085 other.depth_img.copyTo(depth_img);
00086 kpts = other.kpts;
00087 pc_kpts = other.pc_kpts;
00088 pts = other.pts;
00089 idx_prototype = other.idx_prototype;
00090 ndt_map = other.ndt_map;
00091 supportSize = other.supportSize;
00092 cameraParams = other.cameraParams;
00093 maxVar = other.maxVar;
00094 current_res=other.current_res;
00095 other.dtors.copyTo(dtors);
00096 }
00097
00098 void clear()
00099 {
00100 maxVar = 0;
00101 kpts.resize(0);
00102 pc_kpts.resize(0);
00103 pts.resize(0);
00104 idx_prototype = lslgeneric::CellVector<PointT>();
00105 ndt_map = lslgeneric::NDTMap<PointT>(&idx_prototype);
00106
00107
00108
00109 }
00110
00111 cv::Mat img;
00112 cv::Mat depth_img;
00113 size_t supportSize;
00114 double maxVar;
00115 double current_res;
00116 lslgeneric::DepthCamera<PointT> cameraParams;
00117 std::vector<cv::KeyPoint> kpts;
00118 pcl::PointCloud<PointT> pc_kpts;
00120 std::vector<Eigen::Vector4d, Eigen::aligned_allocator<Eigen::Vector4d> > pts;
00121
00122 lslgeneric::CellVector<PointT> idx_prototype;
00123 lslgeneric::NDTMap<PointT> ndt_map;
00124
00125 const PointT& getKeyPointCenter(int keyPointIdx)
00126 {
00127
00128 const PointT &pt = pc_kpts[keyPointIdx];
00129 return pt;
00130 }
00131
00132 void assignPts()
00133 {
00134 if(pc_kpts.size() == 0)
00135 computeNDT();
00136 pts.resize(pc_kpts.size());
00137 for (size_t i = 0; i < pc_kpts.size(); i++)
00138 {
00139 const PointT& pt = pc_kpts[i];
00140 pts[i].head(3) = Eigen::Vector3d(pt.x,pt.y,pt.z);
00141 pts[i](3) = 1.0;
00142
00143 }
00144 }
00145
00146 void computeNDT(bool estimateDI = false, bool nonMean = false)
00147 {
00148 if(kpts.size() > 0)
00149 {
00150
00151 pc_kpts = ndt_map.loadDepthImageFeatures(depth_img,kpts,supportSize,maxVar,cameraParams,estimateDI,nonMean);
00152
00153
00154 }
00155 else
00156 {
00157 lslgeneric::LazyGrid<PointT> idx_prototype_grid(current_res);
00158 ndt_map = lslgeneric::NDTMap<PointT>(&idx_prototype_grid);
00159
00160 ndt_map.loadDepthImage(depth_img,cameraParams);
00161 ndt_map.computeNDTCells();
00162
00163
00164
00165 }
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00181
00182 }
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00207 pcl::PointCloud<pcl::PointXYZRGB> getColoredPointCloud()
00208 {
00209 lslgeneric::DepthCamera<pcl::PointXYZRGB> cameraParamsLocal (cameraParams.fx,cameraParams.fy,cameraParams.cx,
00210 cameraParams.cy,cameraParams.dist,cameraParams.ds, cameraParams.isFloatImg);
00211 cameraParamsLocal.setupDepthPointCloudLookUpTable(depth_img.size());
00212
00213 pcl::PointCloud<pcl::PointXYZRGB> cloud;
00214 cameraParamsLocal.convertDepthImageToPointCloud(depth_img,cloud);
00215
00216 size_t w = img.size().width;
00217 size_t h = img.size().height;
00218 size_t idx = 0;
00219 cloud.width = w;
00220 cloud.height = h;
00221 cloud.is_dense = true;
00222 const uchar* pimg = img.ptr<uchar>(0);
00223 std::cout<<"img channels "<<img.channels()<<std::endl;
00224 pcl::PointXYZRGB color;
00225
00226 uint8_t r = 0, g = 0, b = 0;
00227
00228 for( size_t i =0; i<h; i++)
00229 {
00230 for( size_t j =0; j<w; j++)
00231 {
00232 if(img.channels() == 3)
00233 {
00234 const cv::Vec3b& bgr = img.at<cv::Vec3b>((int)i,(int)j);
00235 r = bgr[0];
00236 g = bgr[1];
00237 b = bgr[2];
00238
00239 idx = 3*(i * w + j);
00240
00241
00242
00243 }
00244 else if (img.channels() == 1)
00245 {
00246 idx = (i * w + j);
00247 r = pimg[idx];
00248 g = pimg[idx];
00249 b = pimg[idx];
00250 }
00251
00252
00253
00254 pcl::PointXYZRGB &color = cloud.points[idx];
00255
00256 color.r = r;
00257 color.g = g;
00258 color.b = b;
00259
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00273 }
00274 }
00275 return cloud;
00276 }
00277
00278 cv::Mat dtors;
00279
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00343 };
00344
00345
00346 template <typename PointSource, typename PointTarget>
00347 class PoseEstimator
00348 {
00349 public:
00350 PoseEstimator(int NRansac,
00351 double maxidx, double maxidd);
00352 size_t estimate(const NDTFrame<PointSource> &f0, const NDTFrame<PointTarget> &f1);
00353 size_t estimate(const NDTFrame<PointSource> &f0, const NDTFrame<PointTarget> &f1, const std::vector<cv::DMatch>& matches);
00354
00355 const std::vector<cv::DMatch>& getInliers() const
00356 {
00357 return inliers;
00358 }
00359
00360 void matchFrames(const NDTFrame<PointSource>& f0, const NDTFrame<PointTarget>& f2, std::vector<cv::DMatch>& fwd_matches);
00361
00362 inline Eigen::Affine3f getTransform()
00363 {
00364 Eigen::Affine3f transl_transform = (Eigen::Affine3f)Eigen::Translation3f(trans[0], trans[1], trans[2]);
00365 Eigen::Affine3f rot_transform = (Eigen::Affine3f)Eigen::Matrix3f(rot.cast<float>());
00366 return transl_transform*rot_transform;
00367 }
00368
00369
00370 std::vector<cv::DMatch> matches;
00371 std::vector<cv::DMatch> inliers;
00372
00373 int numRansac;
00374
00376 bool windowed;
00377
00379 double maxInlierXDist2, maxInlierDDist2;
00380
00381 double maxDist;
00382 double minDist;
00383
00385 cv::Ptr<cv::DescriptorMatcher> matcher;
00386 int wx , wy ;
00387
00388
00389 Eigen::Matrix3d rot;
00390 Eigen::Quaterniond quat;
00391 Eigen::Vector3d trans;
00392
00393 bool projectMatches;
00394 };
00395
00396
00397 }
00398
00399 #include <ndt_feature_reg/impl/ndt_frame.hpp>
00400
00401 #endif