Point Cloud Library (PCL)  1.9.1
object_recognition.h
1 #ifndef OBJECT_RECOGNITION_H_
2 #define OBJECT_RECOGNITION_H_
3 
4 #include "typedefs.h"
5 
6 #include "solution/filters.h"
7 #include "solution/segmentation.h"
8 #include "solution/feature_estimation.h"
9 #include "solution/registration.h"
10 
11 #include <pcl/io/pcd_io.h>
12 #include <pcl/kdtree/kdtree_flann.h>
13 
14 
16 {
17  // Filter parameters
18  float min_depth;
19  float max_depth;
23 
24  // Segmentation parameters
27  float cluster_tolerance;
28  int min_cluster_size;
29  int max_cluster_size;
30 
31  // Feature estimation parameters
33  float keypoints_min_scale;
38 
39  // Registration parameters
47 };
48 
49 struct ObjectModel
50 {
51  PointCloudPtr points;
52  PointCloudPtr keypoints;
53  LocalDescriptorsPtr local_descriptors;
54  GlobalDescriptorsPtr global_descriptor;
55 };
56 
58 {
59 public:
61  {}
62 
63  void
64  populateDatabase (const std::vector<std::string> & filenames)
65  {
66  }
67 
68  const ObjectModel &
69  recognizeObject (const PointCloudPtr & query_cloud)
70  {
71  int best_match = 0;
72  return (models_[best_match]);
73  }
74 
75  PointCloudPtr
76  recognizeAndAlignPoints (const PointCloudPtr & query_cloud)
77  {
78  PointCloudPtr output;
79  return (output);
80  }
81 
82  /* Construct an object model by filtering, segmenting, and estimating feature descriptors */
83  void
84  constructObjectModel (const PointCloudPtr & points, ObjectModel & output) const
85  {
86  output.points = applyFiltersAndSegment (points, params_);
87 
88  SurfaceNormalsPtr normals;
89  estimateFeatures (output.points, params_, normals, output.keypoints,
90  output.local_descriptors, output.global_descriptor);
91  }
92 
93 protected:
94  /* Apply a series of filters (threshold depth, downsample, and remove outliers) */
95  PointCloudPtr
96  applyFiltersAndSegment (const PointCloudPtr & input, const ObjectRecognitionParameters & params) const
97  {
98  PointCloudPtr cloud;
99  cloud = thresholdDepth (input, params.min_depth, params.max_depth);
100  cloud = downsample (cloud, params.downsample_leaf_size);
101  cloud = removeOutliers (cloud, params.outlier_rejection_radius, params.outlier_rejection_min_neighbors);
102 
103  cloud = findAndSubtractPlane (cloud, params.plane_inlier_distance_threshold, params.max_ransac_iterations);
104  std::vector<pcl::PointIndices> cluster_indices;
105  clusterObjects (cloud, params.cluster_tolerance, params.min_cluster_size,
106  params.max_cluster_size, cluster_indices);
107 
108  PointCloudPtr largest_cluster (new PointCloud);
109  pcl::copyPointCloud (*cloud, cluster_indices[0], *largest_cluster);
110 
111  return (largest_cluster);
112  }
113 
114  /* Estimate surface normals, keypoints, and local/global feature descriptors */
115  void
116  estimateFeatures (const PointCloudPtr & points, const ObjectRecognitionParameters & params,
117  SurfaceNormalsPtr & normals_out, PointCloudPtr & keypoints_out,
118  LocalDescriptorsPtr & local_descriptors_out, GlobalDescriptorsPtr & global_descriptor_out) const
119  {
120  normals_out = estimateSurfaceNormals (points, params.surface_normal_radius);
121 
122  keypoints_out = detectKeypoints (points, normals_out, params.keypoints_min_scale, params.keypoints_nr_octaves,
124 
125  local_descriptors_out = computeLocalDescriptors (points, normals_out, keypoints_out,
126  params.local_descriptor_radius);
127 
128  global_descriptor_out = computeGlobalDescriptor (points, normals_out);
129  }
130 
131  /* Align the points in the source model to the points in the target model */
132  PointCloudPtr
133  alignModelPoints (const ObjectModel & source, const ObjectModel & target,
134  const ObjectRecognitionParameters & params) const
135  {
136  Eigen::Matrix4f tform;
137  tform = computeInitialAlignment (source.keypoints, source.local_descriptors,
138  target.keypoints, target.local_descriptors,
142 
143  tform = refineAlignment (source.points, target.points, tform,
146 
147  PointCloudPtr output (new PointCloud);
148  pcl::transformPointCloud (*(source.points), *output, tform);
149 
150  return (output);
151  }
152 
154  std::vector<ObjectModel> models_;
155  GlobalDescriptorsPtr descriptors_;
157 };
158 
159 #endif
ObjectRecognitionParameters::min_depth
float min_depth
Definition: object_recognition.h:18
ObjectRecognitionParameters::icp_max_iterations
int icp_max_iterations
Definition: object_recognition.h:46
ObjectModel::global_descriptor
GlobalDescriptorsPtr global_descriptor
Definition: object_recognition.h:54
ObjectRecognition::applyFiltersAndSegment
PointCloudPtr applyFiltersAndSegment(const PointCloudPtr &input, const ObjectRecognitionParameters &params) const
Definition: object_recognition.h:139
ObjectRecognition::models_
std::vector< ObjectModel > models_
Definition: object_recognition.h:197
ObjectRecognitionParameters::surface_normal_radius
float surface_normal_radius
Definition: object_recognition.h:32
ObjectRecognition::estimateFeatures
void estimateFeatures(const PointCloudPtr &points, const ObjectRecognitionParameters &params, SurfaceNormalsPtr &normals_out, PointCloudPtr &keypoints_out, LocalDescriptorsPtr &local_descriptors_out, GlobalDescriptorsPtr &global_descriptor_out) const
Definition: object_recognition.h:159
ObjectRecognitionParameters::outlier_rejection_radius
float outlier_rejection_radius
Definition: object_recognition.h:21
ObjectRecognition::params_
ObjectRecognitionParameters params_
Definition: object_recognition.h:196
ObjectRecognitionParameters::icp_outlier_rejection_threshold
float icp_outlier_rejection_threshold
Definition: object_recognition.h:44
ObjectRecognitionParameters::min_cluster_size
int min_cluster_size
Definition: object_recognition.h:28
pcl::copyPointCloud
PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &cloud_in, const std::vector< int > &indices, pcl::PCLPointCloud2 &cloud_out)
Extract the indices of a given point cloud as a new point cloud.
ObjectRecognitionParameters::initial_alignment_max_correspondence_distance
float initial_alignment_max_correspondence_distance
Definition: object_recognition.h:41
ObjectRecognition::recognizeAndAlignPoints
PointCloudPtr recognizeAndAlignPoints(const PointCloudPtr &query_cloud)
Definition: object_recognition.h:76
ObjectRecognitionParameters::downsample_leaf_size
float downsample_leaf_size
Definition: object_recognition.h:20
ObjectRecognition
Definition: object_recognition.h:57
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:53
ObjectModel::points
PointCloudPtr points
Definition: object_recognition.h:51
pcl::KdTreeFLANN::Ptr
boost::shared_ptr< KdTreeFLANN< PointT, Dist > > Ptr
Definition: kdtree_flann.h:89
ObjectRecognitionParameters::local_descriptor_radius
float local_descriptor_radius
Definition: object_recognition.h:37
ObjectRecognitionParameters::plane_inlier_distance_threshold
float plane_inlier_distance_threshold
Definition: object_recognition.h:25
ObjectModel::keypoints
PointCloudPtr keypoints
Definition: object_recognition.h:52
ObjectRecognitionParameters::icp_max_correspondence_distance
float icp_max_correspondence_distance
Definition: object_recognition.h:43
pcl::transformPointCloud
void transformPointCloud(const pcl::PointCloud< PointT > &cloud_in, pcl::PointCloud< PointT > &cloud_out, const Eigen::Transform< Scalar, 3, Eigen::Affine > &transform, bool copy_all_fields=true)
Apply an affine transform defined by an Eigen Transform.
Definition: transforms.hpp:215
ObjectModel::local_descriptors
LocalDescriptorsPtr local_descriptors
Definition: object_recognition.h:53
ObjectRecognition::populateDatabase
void populateDatabase(const std::vector< std::string > &filenames)
Definition: object_recognition.h:64
ObjectModel
Definition: object_recognition.h:49
ObjectRecognition::kdtree_
pcl::KdTreeFLANN< GlobalDescriptorT >::Ptr kdtree_
Definition: object_recognition.h:199
ObjectRecognitionParameters::max_depth
float max_depth
Definition: object_recognition.h:19
ObjectRecognitionParameters::max_ransac_iterations
int max_ransac_iterations
Definition: object_recognition.h:26
ObjectRecognitionParameters::keypoints_nr_octaves
float keypoints_nr_octaves
Definition: object_recognition.h:34
ObjectRecognitionParameters
Definition: object_recognition.h:15
ObjectRecognition::alignModelPoints
PointCloudPtr alignModelPoints(const ObjectModel &source, const ObjectModel &target, const ObjectRecognitionParameters &params) const
Definition: object_recognition.h:133
ObjectRecognitionParameters::keypoints_min_scale
float keypoints_min_scale
Definition: object_recognition.h:33
ObjectRecognitionParameters::max_cluster_size
int max_cluster_size
Definition: object_recognition.h:29
ObjectRecognitionParameters::keypoints_min_contrast
float keypoints_min_contrast
Definition: object_recognition.h:36
ObjectRecognitionParameters::cluster_tolerance
float cluster_tolerance
Definition: object_recognition.h:27
ObjectRecognition::ObjectRecognition
ObjectRecognition(const ObjectRecognitionParameters &params)
Definition: object_recognition.h:60
ObjectRecognitionParameters::icp_transformation_epsilon
float icp_transformation_epsilon
Definition: object_recognition.h:45
ObjectRecognitionParameters::initial_alignment_min_sample_distance
float initial_alignment_min_sample_distance
Definition: object_recognition.h:40
ObjectRecognition::constructObjectModel
void constructObjectModel(const PointCloudPtr &points, ObjectModel &output) const
Definition: object_recognition.h:84
ObjectRecognition::recognizeObject
const ObjectModel & recognizeObject(const PointCloudPtr &query_cloud)
Definition: object_recognition.h:69
ObjectRecognitionParameters::initial_alignment_nr_iterations
int initial_alignment_nr_iterations
Definition: object_recognition.h:42
ObjectRecognition::descriptors_
GlobalDescriptorsPtr descriptors_
Definition: object_recognition.h:198
ObjectRecognitionParameters::outlier_rejection_min_neighbors
int outlier_rejection_min_neighbors
Definition: object_recognition.h:22
ObjectRecognitionParameters::keypoints_nr_scales_per_octave
float keypoints_nr_scales_per_octave
Definition: object_recognition.h:35