Point Cloud Library (PCL) 1.13.1
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line_rgbd.h
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37
38#pragma once
39
40#include <pcl/recognition/linemod.h>
41#include <pcl/recognition/color_gradient_modality.h>
42#include <pcl/recognition/surface_normal_modality.h>
43#include <pcl/io/tar.h>
44
45namespace pcl
46{
47
49 {
50 /** \brief Constructor. */
51 BoundingBoxXYZ () : x (0.0f), y (0.0f), z (0.0f), width (0.0f), height (0.0f), depth (0.0f) {}
52
53 /** \brief X-coordinate of the upper left front point */
54 float x;
55 /** \brief Y-coordinate of the upper left front point */
56 float y;
57 /** \brief Z-coordinate of the upper left front point */
58 float z;
59
60 /** \brief Width of the bounding box */
61 float width;
62 /** \brief Height of the bounding box */
63 float height;
64 /** \brief Depth of the bounding box */
65 float depth;
66 };
67
68 /** \brief High-level class for template matching using the LINEMOD approach based on RGB and Depth data.
69 * \author Stefan Holzer
70 */
71 template <typename PointXYZT, typename PointRGBT=PointXYZT>
72 class PCL_EXPORTS LineRGBD
73 {
74 public:
75
76 /** \brief A LineRGBD detection. */
77 struct Detection
78 {
79 /** \brief Constructor. */
80 Detection () : template_id (0), object_id (0), detection_id (0), response (0.0f) {}
81
82 /** \brief The ID of the template. */
83 std::size_t template_id;
84 /** \brief The ID of the object corresponding to the template. */
85 std::size_t object_id;
86 /** \brief The ID of this detection. This is only valid for the last call of the method detect (...). */
87 std::size_t detection_id;
88 /** \brief The response of this detection. Responses are between 0 and 1, where 1 is best. */
89 float response;
90 /** \brief The 3D bounding box of the detection. */
92 /** \brief The 2D template region of the detection. */
94 };
95
96 /** \brief Constructor */
98 : intersection_volume_threshold_ (1.0f)
99 , color_gradient_mod_ ()
100 , surface_normal_mod_ ()
101 , cloud_xyz_ ()
102 , cloud_rgb_ ()
103 , detections_ ()
104 {
105 }
106
107 /** \brief Destructor */
108 virtual ~LineRGBD () = default;
109
110 /** \brief Loads templates from a LMT (LineMod Template) file. Overrides old templates.
111 *
112 * LineMod Template files are TAR files that store pairs of PCD datasets
113 * together with their LINEMOD signatures in \ref
114 * SparseQuantizedMultiModTemplate format.
115 *
116 * \param[in] file_name The name of the file that stores the templates.
117 * \param object_id
118 *
119 * \return true, if the operation was successful, false otherwise.
120 */
121 bool
122 loadTemplates (const std::string &file_name, std::size_t object_id = 0);
123
124 bool
125 addTemplate (const SparseQuantizedMultiModTemplate & sqmmt, pcl::PointCloud<pcl::PointXYZRGBA> & cloud, std::size_t object_id = 0);
126
127 /** \brief Sets the threshold for the detection responses. Responses are between 0 and 1, where 1 is a best.
128 * \param[in] threshold The threshold used to decide where a template is detected.
129 */
130 inline void
131 setDetectionThreshold (float threshold)
132 {
133 linemod_.setDetectionThreshold (threshold);
134 }
135
136 /** \brief Sets the threshold on the magnitude of color gradients. Color gradients with a magnitude below
137 * this threshold are not considered in the detection process.
138 * \param[in] threshold The threshold on the magnitude of color gradients.
139 */
140 inline void
141 setGradientMagnitudeThreshold (const float threshold)
142 {
143 color_gradient_mod_.setGradientMagnitudeThreshold (threshold);
144 }
145
146 /** \brief Sets the threshold for the decision whether two detections of the same template are merged or not.
147 * If ratio between the intersection of the bounding boxes of two detections and the original bounding
148 * boxes is larger than the specified threshold then they are merged. If detection A overlaps with
149 * detection B and B with C than A, B, and C are merged. Threshold has to be between 0 and 1.
150 * \param[in] threshold The threshold on the ratio between the intersection bounding box and the original
151 * bounding box.
152 */
153 inline void
154 setIntersectionVolumeThreshold (const float threshold = 1.0f)
155 {
156 intersection_volume_threshold_ = threshold;
157 }
158
159 /** \brief Sets the input cloud with xyz point coordinates. The cloud has to be organized.
160 * \param[in] cloud The input cloud with xyz point coordinates.
161 */
162 inline void
164 {
165 cloud_xyz_ = cloud;
166
167 surface_normal_mod_.setInputCloud (cloud);
168 surface_normal_mod_.processInputData ();
169 }
170
171 /** \brief Sets the input cloud with rgb values. The cloud has to be organized.
172 * \param[in] cloud The input cloud with rgb values.
173 */
174 inline void
176 {
177 cloud_rgb_ = cloud;
178
179 color_gradient_mod_.setInputCloud (cloud);
180 color_gradient_mod_.processInputData ();
181 }
182
183 /** \brief Creates a template from the specified data and adds it to the matching queue.
184 * \param cloud
185 * \param object_id
186 * \param[in] mask_xyz the mask that determine which parts of the xyz-modality are used for creating the template.
187 * \param[in] mask_rgb the mask that determine which parts of the rgb-modality are used for creating the template.
188 * \param[in] region the region which will be associated with the template (can be larger than the actual modality-maps).
189 */
190 int
191 createAndAddTemplate (
193 const std::size_t object_id,
194 const MaskMap & mask_xyz,
195 const MaskMap & mask_rgb,
196 const RegionXY & region);
197
198
199 /** \brief Applies the detection process and fills the supplied vector with the detection instances.
200 * \param[out] detections The storage for the detection instances.
201 */
202 void
203 detect (std::vector<typename pcl::LineRGBD<PointXYZT, PointRGBT>::Detection> & detections);
204
205 /** \brief Applies the detection process in a semi-scale-invariant manner. This is done by actually
206 * scaling the template to different sizes.
207 */
208 void
209 detectSemiScaleInvariant (std::vector<typename pcl::LineRGBD<PointXYZT, PointRGBT>::Detection> & detections,
210 float min_scale = 0.6944444f,
211 float max_scale = 1.44f,
212 float scale_multiplier = 1.2f);
213
214 /** \brief Computes and returns the point cloud of the specified detection. This is the template point
215 * cloud transformed to the detection coordinates. The detection ID refers to the last call of
216 * the method detect (...).
217 * \param[in] detection_id The ID of the detection (according to the last call of the method detect (...)).
218 * \param[out] cloud The storage for the transformed points.
219 */
220 void
221 computeTransformedTemplatePoints (const std::size_t detection_id,
223
224 /** \brief Finds the indices of the points in the input cloud which correspond to the specified detection.
225 * The detection ID refers to the last call of the method detect (...).
226 * \param[in] detection_id The ID of the detection (according to the last call of the method detect (...)).
227 */
228 inline std::vector<std::size_t>
229 findObjectPointIndices (const std::size_t detection_id)
230 {
231 if (detection_id >= detections_.size ())
232 PCL_ERROR ("ERROR pcl::LineRGBD::computeTransformedTemplatePoints - detection_id is out of bounds\n");
233
234 // TODO: compute transform from detection
235 // TODO: transform template points
236 std::vector<std::size_t> vec;
237 return (vec);
238 }
239
240
241 protected:
242
243 /** \brief Aligns the template points with the points found at the detection position of the specified detection.
244 * The detection ID refers to the last call of the method detect (...).
245 * \param[in] detection_id The ID of the detection (according to the last call of the method detect (...)).
246 */
247 inline std::vector<std::size_t>
248 alignTemplatePoints (const std::size_t detection_id)
249 {
250 if (detection_id >= detections_.size ())
251 PCL_ERROR ("ERROR pcl::LineRGBD::computeTransformedTemplatePoints - detection_id is out of bounds\n");
252
253 // TODO: compute transform from detection
254 // TODO: transform template points
255 std::vector<std::size_t> vec;
256 return (vec);
257 }
258
259 /** \brief Refines the found detections along the depth. */
260 void
261 refineDetectionsAlongDepth ();
262
263 /** \brief Applies projective ICP on detections to find their correct position in depth. */
264 void
265 applyProjectiveDepthICPOnDetections ();
266
267 /** \brief Checks for overlapping detections, removes them and keeps only the strongest one. */
268 void
269 removeOverlappingDetections ();
270
271 /** \brief Computes the volume of the intersection between two bounding boxes.
272 * \param[in] box1 First bounding box.
273 * \param[in] box2 Second bounding box.
274 */
275 static float
276 computeBoundingBoxIntersectionVolume (const BoundingBoxXYZ &box1, const BoundingBoxXYZ &box2);
277
278 private:
279 /** \brief Read another LTM header chunk. */
280 bool
281 readLTMHeader (int fd, pcl::io::TARHeader &header);
282
283 /** \brief Intersection volume threshold. */
284 float intersection_volume_threshold_;
285
286 /** \brief LINEMOD instance. */
288 /** \brief Color gradient modality. */
290 /** \brief Surface normal modality. */
292
293 /** \brief XYZ point cloud. */
295 /** \brief RGB point cloud. */
297
298 /** \brief Point clouds corresponding to the templates. */
300 /** \brief Bounding boxes corresponding to the templates. */
301 std::vector<pcl::BoundingBoxXYZ> bounding_boxes_;
302 /** \brief Object IDs corresponding to the templates. */
303 std::vector<std::size_t> object_ids_;
304
305 /** \brief Detections from last call of method detect (...). */
306 std::vector<typename pcl::LineRGBD<PointXYZT, PointRGBT>::Detection> detections_;
307 };
308
309}
310
311#include <pcl/recognition/impl/linemod/line_rgbd.hpp>
Modality based on max-RGB gradients.
Template matching using the LINEMOD approach.
Definition linemod.h:332
High-level class for template matching using the LINEMOD approach based on RGB and Depth data.
Definition line_rgbd.h:73
void setDetectionThreshold(float threshold)
Sets the threshold for the detection responses.
Definition line_rgbd.h:131
pcl::PointCloud< PointXYZT >::ConstPtr cloud_xyz_
XYZ point cloud.
Definition line_rgbd.h:294
pcl::LINEMOD linemod_
LINEMOD instance.
Definition line_rgbd.h:287
pcl::PointCloud< PointRGBT >::ConstPtr cloud_rgb_
RGB point cloud.
Definition line_rgbd.h:296
std::vector< typename pcl::LineRGBD< PointXYZT, PointRGBT >::Detection > detections_
Detections from last call of method detect (...).
Definition line_rgbd.h:306
void setGradientMagnitudeThreshold(const float threshold)
Sets the threshold on the magnitude of color gradients.
Definition line_rgbd.h:141
std::vector< pcl::BoundingBoxXYZ > bounding_boxes_
Bounding boxes corresponding to the templates.
Definition line_rgbd.h:301
std::vector< std::size_t > object_ids_
Object IDs corresponding to the templates.
Definition line_rgbd.h:303
pcl::ColorGradientModality< PointRGBT > color_gradient_mod_
Color gradient modality.
Definition line_rgbd.h:289
pcl::SurfaceNormalModality< PointXYZT > surface_normal_mod_
Surface normal modality.
Definition line_rgbd.h:291
virtual ~LineRGBD()=default
Destructor.
pcl::PointCloud< pcl::PointXYZRGBA >::CloudVectorType template_point_clouds_
Point clouds corresponding to the templates.
Definition line_rgbd.h:299
void setIntersectionVolumeThreshold(const float threshold=1.0f)
Sets the threshold for the decision whether two detections of the same template are merged or not.
Definition line_rgbd.h:154
std::vector< std::size_t > alignTemplatePoints(const std::size_t detection_id)
Aligns the template points with the points found at the detection position of the specified detection...
Definition line_rgbd.h:248
void setInputColors(const typename pcl::PointCloud< PointRGBT >::ConstPtr &cloud)
Sets the input cloud with rgb values.
Definition line_rgbd.h:175
void setInputCloud(const typename pcl::PointCloud< PointXYZT >::ConstPtr &cloud)
Sets the input cloud with xyz point coordinates.
Definition line_rgbd.h:163
std::vector< std::size_t > findObjectPointIndices(const std::size_t detection_id)
Finds the indices of the points in the input cloud which correspond to the specified detection.
Definition line_rgbd.h:229
LineRGBD()
Constructor.
Definition line_rgbd.h:97
PointCloud represents the base class in PCL for storing collections of 3D points.
std::vector< PointCloud< PointT >, Eigen::aligned_allocator< PointCloud< PointT > > > CloudVectorType
shared_ptr< const PointCloud< PointT > > ConstPtr
Modality based on surface normals.
float width
Width of the bounding box.
Definition line_rgbd.h:61
float x
X-coordinate of the upper left front point.
Definition line_rgbd.h:54
float y
Y-coordinate of the upper left front point.
Definition line_rgbd.h:56
float depth
Depth of the bounding box.
Definition line_rgbd.h:65
BoundingBoxXYZ()
Constructor.
Definition line_rgbd.h:51
float z
Z-coordinate of the upper left front point.
Definition line_rgbd.h:58
float height
Height of the bounding box.
Definition line_rgbd.h:63
A LineRGBD detection.
Definition line_rgbd.h:78
std::size_t template_id
The ID of the template.
Definition line_rgbd.h:83
BoundingBoxXYZ bounding_box
The 3D bounding box of the detection.
Definition line_rgbd.h:91
std::size_t object_id
The ID of the object corresponding to the template.
Definition line_rgbd.h:85
float response
The response of this detection.
Definition line_rgbd.h:89
std::size_t detection_id
The ID of this detection.
Definition line_rgbd.h:87
RegionXY region
The 2D template region of the detection.
Definition line_rgbd.h:93
Detection()
Constructor.
Definition line_rgbd.h:80
Defines a region in XY-space.
Definition region_xy.h:82
A multi-modality template constructed from a set of quantized multi-modality features.
A TAR file's header, as described on https://en.wikipedia.org/wiki/Tar_%28file_format%29.
Definition tar.h:50