Good descriptor

examples/features/CMakeLists.txt

@@ -21,3 +21,6 @@ PCL_ADD_EXAMPLE(pcl_example_rift_estimation FILES example_rift_estimation.cpp
 
 PCL_ADD_EXAMPLE(pcl_example_difference_of_normals FILES example_difference_of_normals.cpp
                 LINK_WITH pcl_common pcl_kdtree pcl_search pcl_features pcl_io pcl_segmentation pcl_sample_consensus)
+
+PCL_ADD_EXAMPLE(pcl_example_good_descriptor FILES example_good_descriptor.cpp
+                LINK_WITH pcl_common pcl_features pcl_io pcl_sample_consensus)

examples/features/example_good_descriptor.cpp

@@ -0,0 +1,178 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2010-2012, Willow Garage, Inc.
+ *
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder(s) nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * $Id$
+ *
+ */
+
+/** \brief GOOD: a Global Orthographic Object Descriptor for 3D object recognition and manipulation.
+  * GOOD descriptor has been designed to be robust, descriptive and efficient to compute and use. 
+  * It has two outstanding characteristics: 
+  * 
+  * (1) Providing a good trade-off among :
+  *	- descriptiveness,
+  *	- robustness,
+  *	- computation time,
+  *	- memory usage.
+  * 
+  * (2) Allowing concurrent object recognition and pose estimation for manipulation.
+  * 
+  * \note This is an implementation of the GOOD descriptor which has been presented in the following papers:
+  * 
+  *	[1] Kasaei, S. Hamidreza,  Ana Maria Tomé, Luís Seabra Lopes, Miguel Oliveira 
+  *	"GOOD: A global orthographic object descriptor for 3D object recognition and manipulation." 
+  *	Pattern Recognition Letters 83 (2016): 312-320.http://dx.doi.org/10.1016/j.patrec.2016.07.006
+  *
+  *	[2] Kasaei, S. Hamidreza, Luís Seabra Lopes, Ana Maria Tomé, Miguel Oliveira 
+  * 	"An orthographic descriptor for 3D object learning and recognition." 
+  *	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016, 
+  *	pp. 4158-4163. doi: 10.1109/IROS.2016.7759612
+  * 
+  * Please adequately refer to this work any time this code is being used by citing above papers.
+  * If you do publish a paper where GOOD descriptor helped your research, we encourage you to cite the above papers in your publications.
+  * 
+  * \author Hamidreza Kasaei (Seyed.Hamidreza[at]ua[dot]pt)
+  */
+
+#include <pcl/features/good.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/io/ply_io.h>
+#include <boost/filesystem.hpp>
+
+typedef pcl::PointXYZRGBA PointT;  
+using namespace pcl;
+
+int
+readPointCloud(std::string object_path,  boost::shared_ptr<pcl::PointCloud<PointT> > point_cloud)
+{
+  std::string extension = boost::filesystem::extension(object_path);
+  if (extension == ".pcd" || extension == ".PCD")
+  { 
+    if (pcl::io::loadPCDFile(object_path.c_str() , *point_cloud) == -1)
+    {
+      std::cout << "Cloud reading failed." << std::endl;
+      return (-1);
+    }
+  }
+  else if (extension == ".ply" || extension == ".PLY")
+  {   
+    if (pcl::io::loadPLYFile(object_path , *point_cloud) == -1)
+    {
+      std::cout << "Cloud reading failed." << std::endl;
+      return (-1);
+    }
+  }
+  else 
+  {
+      std::cout << "file extension is not correct. Syntax is: example_good_descriptor <path/file_name.pcd>  or example_good_descriptor <path/file_name.ply>" << std::endl;
+      return -1;
+  }
+  return 1;
+}
+
+int main(int argc, char* argv[])
+{  
+
+  if (argc < 2 ||argc > 2) 
+  {
+    std::cout << "\n Syntax is: example_good_descriptor <path/file_name.pcd>" << std::endl;
+    return 0;
+  }
+
+  std::string object_path =  argv[1];  
+  pcl::PointCloud<PointT>::Ptr object (new pcl::PointCloud<PointT>);
+  if (readPointCloud( object_path,  object)==-1)
+    return -1;
+
+  std::vector< float > object_description;
+  std::vector < boost::shared_ptr<pcl::PointCloud<PointT> > > vector_of_projected_views;
+  boost::shared_ptr<pcl::PointCloud<PointT> > transformed_object (new pcl::PointCloud<PointT>);
+
+  Eigen::Matrix4f transformation;
+  pcl::PointXYZ center_of_bounding_box;
+  pcl::PointXYZ bounding_box_dimensions;
+  std::string order_of_projected_planes;
+
+  // Setup the GOOD descriptor
+  // GOOD can also be setup in a line:  GOODEstimation test_GOOD_descriptor (5, 0.0015); 
+  GOODEstimation<PointT> test_GOOD_descriptor; 
+  test_GOOD_descriptor.setNumberOfBins(5);
+  test_GOOD_descriptor.setThreshold(0.0015);  
+
+  // Provide the original point cloud
+  test_GOOD_descriptor.setInputCloud(object);
+
+  // Compute GOOD discriptor for the given object
+  test_GOOD_descriptor.compute(object_description);
+  std::cout <<"\n GOOD = ["; 
+  for (size_t i =0; i< object_description.size()-1; i ++)
+    std::cout << object_description.at(i)<<",";
+  std::cout << object_description.back() <<"]"<<std::endl;  
+
+  /*_________________________________________
+  |                                          |
+  | Functionalities for Object Manipulation  |
+  |__________________________________________| */   
+  // The following functinalities of GOOD are usefull for manipulation tasks:
+
+  // Get objec point cloud in local reference frame
+  test_GOOD_descriptor.getTransformedObject (transformed_object);
+
+  // Get three orthographic projects and transformation matrix 
+  test_GOOD_descriptor.getOrthographicProjections (vector_of_projected_views);  
+  test_GOOD_descriptor.getTransformationMatrix (transformation);
+  std::cout << "\n transofrmation matrix =\n"<<transformation << std::endl;
+
+  // Get object bounding box information 
+  test_GOOD_descriptor.getCenterOfObjectBoundingBox (center_of_bounding_box); 
+  test_GOOD_descriptor.getObjectBoundingBoxDimensions(bounding_box_dimensions);
+  std::cout<<"\n center_of_bounding_box = " << center_of_bounding_box<<std::endl;
+  std::cout<<"\n bounding_box_dimensions = " << bounding_box_dimensions <<std::endl;
+
+  // Get the order of the three projected planes 
+  test_GOOD_descriptor.getOrderOfProjectedPlanes(order_of_projected_planes);
+  std::cout << "\n order of projected planes = "<<order_of_projected_planes << std::endl;
+
+  // Pass the following point cloud to a pcl::visualization::PCLVisualizer forVisualizing the 
+  //transformed object, local reference fram and three orthographic projections
+
+  pcl::PointCloud<PointT>::Ptr transformed_object_and_projected_views (new pcl::PointCloud<PointT>);
+  *transformed_object_and_projected_views += *vector_of_projected_views.at(0);
+  *transformed_object_and_projected_views += *vector_of_projected_views.at(1);
+  *transformed_object_and_projected_views += *vector_of_projected_views.at(2);
+  *transformed_object_and_projected_views += *transformed_object;    
+
+  return 0;
+}

features/CMakeLists.txt

@@ -1,6 +1,6 @@
 set(SUBSYS_NAME features)
 set(SUBSYS_DESC "Point cloud features library")
-set(SUBSYS_DEPS common search kdtree octree filters 2d)
+set(SUBSYS_DEPS common sample_consensus search kdtree octree filters 2d)
 
 set(build TRUE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
@@ -62,6 +62,8 @@ if(build)
         "include/pcl/${SUBSYS_NAME}/usc.h"
         "include/pcl/${SUBSYS_NAME}/boundary.h"
         "include/pcl/${SUBSYS_NAME}/range_image_border_extractor.h"
+        "include/pcl/${SUBSYS_NAME}/range_image_border_extractor.h"
+        "include/pcl/${SUBSYS_NAME}/good.h"
         )
 
     set(impl_incs
@@ -110,6 +112,7 @@ if(build)
         "include/pcl/${SUBSYS_NAME}/impl/usc.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/boundary.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/range_image_border_extractor.hpp"
+        "include/pcl/${SUBSYS_NAME}/impl/good.hpp"
         )
 
     set(srcs
@@ -150,6 +153,7 @@ if(build)
         src/3dsc.cpp
         src/usc.cpp
         src/range_image_border_extractor.cpp
+        src/good.cpp
        )
 
     if(MSVC)