Point Cloud Library (PCL) 1.14.0
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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 () = default;
52
53 /** \brief X-coordinate of the upper left front point */
54 float x{0.0f};
55 /** \brief Y-coordinate of the upper left front point */
56 float y{0.0f};
57 /** \brief Z-coordinate of the upper left front point */
58 float z{0.0f};
59
60 /** \brief Width of the bounding box */
61 float width{0.0f};
62 /** \brief Height of the bounding box */
63 float height{0.0f};
64 /** \brief Depth of the bounding box */
65 float depth{0.0f};
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 () = default;
81
82 /** \brief The ID of the template. */
83 std::size_t template_id{0};
84 /** \brief The ID of the object corresponding to the template. */
85 std::size_t object_id{0};
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{0};
88 /** \brief The response of this detection. Responses are between 0 and 1, where 1 is best. */
89 float response{0.0f};
90 /** \brief The 3D bounding box of the detection. */
92 /** \brief The 2D template region of the detection. */
94 };
95
96 /** \brief Constructor */
98 : color_gradient_mod_ ()
99 , surface_normal_mod_ ()
100 , cloud_xyz_ ()
101 , cloud_rgb_ ()
102 , detections_ ()
103 {
104 }
105
106 /** \brief Destructor */
107 virtual ~LineRGBD () = default;
108
109 /** \brief Loads templates from a LMT (LineMod Template) file. Overrides old templates.
110 *
111 * LineMod Template files are TAR files that store pairs of PCD datasets
112 * together with their LINEMOD signatures in \ref
113 * SparseQuantizedMultiModTemplate format.
114 *
115 * \param[in] file_name The name of the file that stores the templates.
116 * \param object_id
117 *
118 * \return true, if the operation was successful, false otherwise.
119 */
120 bool
121 loadTemplates (const std::string &file_name, std::size_t object_id = 0);
122
123 bool
124 addTemplate (const SparseQuantizedMultiModTemplate & sqmmt, pcl::PointCloud<pcl::PointXYZRGBA> & cloud, std::size_t object_id = 0);
125
126 /** \brief Sets the threshold for the detection responses. Responses are between 0 and 1, where 1 is a best.
127 * \param[in] threshold The threshold used to decide where a template is detected.
128 */
129 inline void
130 setDetectionThreshold (float threshold)
131 {
132 linemod_.setDetectionThreshold (threshold);
133 }
134
135 /** \brief Sets the threshold on the magnitude of color gradients. Color gradients with a magnitude below
136 * this threshold are not considered in the detection process.
137 * \param[in] threshold The threshold on the magnitude of color gradients.
138 */
139 inline void
140 setGradientMagnitudeThreshold (const float threshold)
141 {
142 color_gradient_mod_.setGradientMagnitudeThreshold (threshold);
143 }
144
145 /** \brief Sets the threshold for the decision whether two detections of the same template are merged or not.
146 * If ratio between the intersection of the bounding boxes of two detections and the original bounding
147 * boxes is larger than the specified threshold then they are merged. If detection A overlaps with
148 * detection B and B with C than A, B, and C are merged. Threshold has to be between 0 and 1.
149 * \param[in] threshold The threshold on the ratio between the intersection bounding box and the original
150 * bounding box.
151 */
152 inline void
153 setIntersectionVolumeThreshold (const float threshold = 1.0f)
154 {
155 intersection_volume_threshold_ = threshold;
156 }
157
158 /** \brief Sets the input cloud with xyz point coordinates. The cloud has to be organized.
159 * \param[in] cloud The input cloud with xyz point coordinates.
160 */
161 inline void
163 {
164 cloud_xyz_ = cloud;
165
166 surface_normal_mod_.setInputCloud (cloud);
167 surface_normal_mod_.processInputData ();
168 }
169
170 /** \brief Sets the input cloud with rgb values. The cloud has to be organized.
171 * \param[in] cloud The input cloud with rgb values.
172 */
173 inline void
175 {
176 cloud_rgb_ = cloud;
177
178 color_gradient_mod_.setInputCloud (cloud);
179 color_gradient_mod_.processInputData ();
180 }
181
182 /** \brief Creates a template from the specified data and adds it to the matching queue.
183 * \param cloud
184 * \param object_id
185 * \param[in] mask_xyz the mask that determine which parts of the xyz-modality are used for creating the template.
186 * \param[in] mask_rgb the mask that determine which parts of the rgb-modality are used for creating the template.
187 * \param[in] region the region which will be associated with the template (can be larger than the actual modality-maps).
188 */
189 int
190 createAndAddTemplate (
192 const std::size_t object_id,
193 const MaskMap & mask_xyz,
194 const MaskMap & mask_rgb,
195 const RegionXY & region);
196
197
198 /** \brief Applies the detection process and fills the supplied vector with the detection instances.
199 * \param[out] detections The storage for the detection instances.
200 */
201 void
202 detect (std::vector<typename pcl::LineRGBD<PointXYZT, PointRGBT>::Detection> & detections);
203
204 /** \brief Applies the detection process in a semi-scale-invariant manner. This is done by actually
205 * scaling the template to different sizes.
206 */
207 void
208 detectSemiScaleInvariant (std::vector<typename pcl::LineRGBD<PointXYZT, PointRGBT>::Detection> & detections,
209 float min_scale = 0.6944444f,
210 float max_scale = 1.44f,
211 float scale_multiplier = 1.2f);
212
213 /** \brief Computes and returns the point cloud of the specified detection. This is the template point
214 * cloud transformed to the detection coordinates. The detection ID refers to the last call of
215 * the method detect (...).
216 * \param[in] detection_id The ID of the detection (according to the last call of the method detect (...)).
217 * \param[out] cloud The storage for the transformed points.
218 */
219 void
220 computeTransformedTemplatePoints (const std::size_t detection_id,
222
223 /** \brief Finds the indices of the points in the input cloud which correspond to the specified detection.
224 * The detection ID refers to the last call of the method detect (...).
225 * \param[in] detection_id The ID of the detection (according to the last call of the method detect (...)).
226 */
227 inline std::vector<std::size_t>
228 findObjectPointIndices (const std::size_t detection_id)
229 {
230 if (detection_id >= detections_.size ())
231 PCL_ERROR ("ERROR pcl::LineRGBD::computeTransformedTemplatePoints - detection_id is out of bounds\n");
232
233 // TODO: compute transform from detection
234 // TODO: transform template points
235 std::vector<std::size_t> vec;
236 return (vec);
237 }
238
239
240 protected:
241
242 /** \brief Aligns the template points with the points found at the detection position of the specified detection.
243 * The detection ID refers to the last call of the method detect (...).
244 * \param[in] detection_id The ID of the detection (according to the last call of the method detect (...)).
245 */
246 inline std::vector<std::size_t>
247 alignTemplatePoints (const std::size_t detection_id)
248 {
249 if (detection_id >= detections_.size ())
250 PCL_ERROR ("ERROR pcl::LineRGBD::computeTransformedTemplatePoints - detection_id is out of bounds\n");
251
252 // TODO: compute transform from detection
253 // TODO: transform template points
254 std::vector<std::size_t> vec;
255 return (vec);
256 }
257
258 /** \brief Refines the found detections along the depth. */
259 void
260 refineDetectionsAlongDepth ();
261
262 /** \brief Applies projective ICP on detections to find their correct position in depth. */
263 void
264 applyProjectiveDepthICPOnDetections ();
265
266 /** \brief Checks for overlapping detections, removes them and keeps only the strongest one. */
267 void
268 removeOverlappingDetections ();
269
270 /** \brief Computes the volume of the intersection between two bounding boxes.
271 * \param[in] box1 First bounding box.
272 * \param[in] box2 Second bounding box.
273 */
274 static float
275 computeBoundingBoxIntersectionVolume (const BoundingBoxXYZ &box1, const BoundingBoxXYZ &box2);
276
277 private:
278 /** \brief Read another LTM header chunk. */
279 bool
280 readLTMHeader (int fd, pcl::io::TARHeader &header);
281
282 /** \brief Intersection volume threshold. */
283 float intersection_volume_threshold_{1.0f};
284
285 /** \brief LINEMOD instance. */
287 /** \brief Color gradient modality. */
289 /** \brief Surface normal modality. */
291
292 /** \brief XYZ point cloud. */
294 /** \brief RGB point cloud. */
296
297 /** \brief Point clouds corresponding to the templates. */
299 /** \brief Bounding boxes corresponding to the templates. */
300 std::vector<pcl::BoundingBoxXYZ> bounding_boxes_;
301 /** \brief Object IDs corresponding to the templates. */
302 std::vector<std::size_t> object_ids_;
303
304 /** \brief Detections from last call of method detect (...). */
305 std::vector<typename pcl::LineRGBD<PointXYZT, PointRGBT>::Detection> detections_;
306 };
307
308}
309
310#include <pcl/recognition/impl/linemod/line_rgbd.hpp>
Modality based on max-RGB gradients.
Template matching using the LINEMOD approach.
Definition linemod.h:327
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:130
pcl::PointCloud< PointXYZT >::ConstPtr cloud_xyz_
XYZ point cloud.
Definition line_rgbd.h:293
pcl::LINEMOD linemod_
LINEMOD instance.
Definition line_rgbd.h:286
pcl::PointCloud< PointRGBT >::ConstPtr cloud_rgb_
RGB point cloud.
Definition line_rgbd.h:295
std::vector< typename pcl::LineRGBD< PointXYZT, PointRGBT >::Detection > detections_
Detections from last call of method detect (...).
Definition line_rgbd.h:305
void setGradientMagnitudeThreshold(const float threshold)
Sets the threshold on the magnitude of color gradients.
Definition line_rgbd.h:140
std::vector< pcl::BoundingBoxXYZ > bounding_boxes_
Bounding boxes corresponding to the templates.
Definition line_rgbd.h:300
std::vector< std::size_t > object_ids_
Object IDs corresponding to the templates.
Definition line_rgbd.h:302
pcl::ColorGradientModality< PointRGBT > color_gradient_mod_
Color gradient modality.
Definition line_rgbd.h:288
pcl::SurfaceNormalModality< PointXYZT > surface_normal_mod_
Surface normal modality.
Definition line_rgbd.h:290
virtual ~LineRGBD()=default
Destructor.
pcl::PointCloud< pcl::PointXYZRGBA >::CloudVectorType template_point_clouds_
Point clouds corresponding to the templates.
Definition line_rgbd.h:298
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:153
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:247
void setInputColors(const typename pcl::PointCloud< PointRGBT >::ConstPtr &cloud)
Sets the input cloud with rgb values.
Definition line_rgbd.h:174
void setInputCloud(const typename pcl::PointCloud< PointXYZT >::ConstPtr &cloud)
Sets the input cloud with xyz point coordinates.
Definition line_rgbd.h:162
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:228
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
float z
Z-coordinate of the upper left front point.
Definition line_rgbd.h:58
BoundingBoxXYZ()=default
Constructor.
float height
Height of the bounding box.
Definition line_rgbd.h:63
A LineRGBD detection.
Definition line_rgbd.h:78
BoundingBoxXYZ bounding_box
The 3D bounding box of the detection.
Definition line_rgbd.h:91
Detection()=default
Constructor.
RegionXY region
The 2D template region of the detection.
Definition line_rgbd.h:93
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