#include "../common/CommonTerminalRoutines.h"#include "../common/CommonVTKRoutines.h"#include "../common/CommonIORoutines.h"#include "../common/CommonANNRoutines.h"#include "../common/ANN-VTK.h"#include <Eigen/Array>#include <Eigen/Geometry>#include <Eigen/SVD>#include <time.h>
Go to the source code of this file.
Classes | |
| struct | PCD |
Defines | |
| #define | BUCKET_SIZE 30 |
Functions | |
| Matrix4f | computeTransformation (const ANNpoint target, const ANNpoint source, const bool rotation) |
| ANNpointArray | evaluateTransformation (Matrix4f transform, vector< PCD >::iterator model, double sqr_threshold, int step, int limit_match, int limit_inliers, vector< int > &match_idx, vector< int > &tmp_inliers) |
| int | main (int argc, char **argv) |
| bool | potentialMatch (const ANNpoint p0, const ANNpoint p1, const bool check_angle) |
Variables | |
| ANNkd_tree * | kd_tree |
| double | maxZdiff = 0.03 |
| double | minAdiff = DEG2RAD(30) |
| int | model_nxIdx |
| ANNidxArray | nnIdx |
| int | nxIdx |
| ANNdistArray | sqrDists |
| #define BUCKET_SIZE 30 |
Definition at line 35 of file register_views.cpp.
| Matrix4f computeTransformation | ( | const ANNpoint | target, |
| const ANNpoint | source, | ||
| const bool | rotation | ||
| ) | [inline] |
Definition at line 68 of file register_views.cpp.
| ANNpointArray evaluateTransformation | ( | Matrix4f | transform, |
| vector< PCD >::iterator | model, | ||
| double | sqr_threshold, | ||
| int | step, | ||
| int | limit_match, | ||
| int | limit_inliers, | ||
| vector< int > & | match_idx, | ||
| vector< int > & | tmp_inliers | ||
| ) |
Definition at line 86 of file register_views.cpp.
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Init
Check and info
Parsing arguments
: would actually creating a model kd-tree and searching target points in it be faster?
Take only the first two .pcd files into account
Load the points from file
Checking dimensions
Create a kD-tree
Load the models from the files
for (unsigned i = 2; i < pPCDFileIndices.size (); i++) { PCD_Header header2; print_info (stderr, "Loading model "); print_value (stderr, "%s... ", argv[pPCDFileIndices.at (i)]); ANNpointArray points2 = LoadPCDFile (argv[pPCDFileIndices.at (i)], header2); if (points == NULL) return (-1); fprintf (stderr, "[done : "); print_value (stderr, "%d %d", header2.nr_points, header2.dimID.size ()); fprintf (stderr, "D points]\n"); print_info (stderr, "Available dimensions: "); print_value (stderr, "%s\n", getAvailableDimensions (header2).c_str ()); if (header2.comments.size () != 0) { print_value (stderr, "Header comments:\n"); fprintf (stderr, "%s", header2.comments.c_str ()); }
/ Checking dimensions int xIdx = getIndex (header2, "x"); if (xIdx != 0) { print_error (stderr, "XYZ coordinates not first dimensions!\n"); return (-1); }
/ Saving reference in list models[i-2].points = points2; models[i-2].header = header2; cerr << models[i-2].points << endl; fprintf (stderr, "Saved %s header: ", models[i-2].header.data_type?"ASCII":"BINARY"); print_value (stderr, "%d %d", models[i-2].header.nr_points, models[i-2].header.dimID.size ()); fprintf (stderr, "D "); print_value (stderr, "%s\n", getAvailableDimensions (models[i-2].header).c_str ()); if (models[i-2].header.comments.size () != 0) fprintf (stderr, "%s", models[i-2].header.comments.c_str ()); }
Starting global timer
Registering each model to the scan and find the best
for (vector<PCD>::iterator model = models.begin (); model != models.end (); model++)
Checking dimensions
Saving reference in list
<1> or <min_iter> instead of this?
Starting local timer
Iterate
save these for outside the RANSAC loop as well?
Iterate
<1> or <min_iter> instead of this?
: make this nicer
if (step != 1) {
: why is this not working if after the skip? shouldn't they be transformed in the function call already?
if (cp % step == 0) continue;
}
Save the best model
Done
Definition at line 131 of file register_views.cpp.
| bool potentialMatch | ( | const ANNpoint | p0, |
| const ANNpoint | p1, | ||
| const bool | check_angle | ||
| ) | [inline] |
Definition at line 54 of file register_views.cpp.
| ANNkd_tree* kd_tree |
Definition at line 40 of file register_views.cpp.
| double maxZdiff = 0.03 |
Definition at line 50 of file register_views.cpp.
Definition at line 51 of file register_views.cpp.
| int model_nxIdx |
Definition at line 52 of file register_views.cpp.
| ANNidxArray nnIdx |
Definition at line 41 of file register_views.cpp.
| int nxIdx |
Definition at line 52 of file register_views.cpp.
| ANNdistArray sqrDists |
Definition at line 42 of file register_views.cpp.