andymiller / featurebasedalignment Goto Github PK
View Code? Open in Web Editor NEWRegistration for point clouds
Registration for point clouds
Feature Based Alignment Some programs to roughly align two point clouds representing the same underlying geometry. The goal is to accurately register two point clouds created from different image spectrums (e.g. visual to infrared), in different coordinate systems of different scales. This depends on: - PCL (http://pointclouds.org/) - CMake and some c++ compiler Also used the pcl visualization library, which depends on some toolkit (I use QT4). Current approach is: - Take two point clouds - Estimate normals for each point - Find FPFH Features for each point - Find likely correspondences between two models (based on FPFH) - Use top features to estimate scale, - Run RANSAC to estimate transformation, and eliminate correspondences - Use remaining correspondences to run ICP for finer alignment Usage Example: #estimate correspondences - saves a corrs.txt file ./corrs cloudA.ply cloudB.ply AtoBCorrs.txt #run rough alignment using corrs ./align cloudA.ply cloudB.ply AtoBCorrs.txt #saves files: irRough.pcd - cloud A after RANSAC alignment eoRough.pcd - cloud B after RANSAC alignment irFinal.pcd - cloud A after ICP alignment eoFinal.pcd - cloud B after ICP alignment other tools include bbox and circular cropping ./bbox cloud.pcd ./crop cloud.pcd centerX centerY centerZ radius out.pcd
Hi!
What is AtoBCorrs.txt file required in input?
Hi,
I have tried to build FeatureBasedAlignment, but it does not work out. Can you help to fix the problem, please
Thanks,
My error:
Scanning dependencies of target pcl_alignment
[ 5%] Building CXX object CMakeFiles/pcl_alignment.dir/alignment.cxx.o
In file included from /home/alex/Downloads/FeatureBasedAlignment-master/alignment.cxx:1:0:
/home/alex/Downloads/FeatureBasedAlignment-master/alignment.h: In instantiation of ‘pcl::CorrespondencesPtr RoughFeatureAlignment::estimateCorrespondances(typename pcl::PointCloud::Ptr&, typename pcl::PointCloud::Ptr&, unsigned int) [with T = pcl::FPFHSignature33; pcl::CorrespondencesPtr = boost::shared_ptr<std::vector<pcl::Correspondence, Eigen::aligned_allocatorpcl::Correspondence > >; typename pcl::PointCloud::Ptr = boost::shared_ptr<pcl::PointCloudpcl::FPFHSignature33 >]’:
/home/alex/Downloads/FeatureBasedAlignment-master/alignment.cxx:28:59: required from here
/home/alex/Downloads/FeatureBasedAlignment-master/alignment.h:105:3: warning: ‘void pcl::registration::CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::setInputCloud(const PointCloudSourceConstPtr&) [with PointSource = pcl::FPFHSignature33; PointTarget = pcl::FPFHSignature33; Scalar = float; pcl::registration::CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::PointCloudSourceConstPtr = boost::shared_ptr<const pcl::PointCloudpcl::FPFHSignature33 >]’ is deprecated: [pcl::registration::CorrespondenceEstimationBase::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead. [-Wdeprecated-declarations]
ce.setInputCloud(sourcePts);
^
In file included from /usr/local/include/pcl-1.8/pcl/registration/correspondence_estimation.h:452:0,
from /home/alex/Downloads/FeatureBasedAlignment-master/util.h:5,
from /home/alex/Downloads/FeatureBasedAlignment-master/alignment.h:4,
from /home/alex/Downloads/FeatureBasedAlignment-master/alignment.cxx:1:
/usr/local/include/pcl-1.8/pcl/registration/impl/correspondence_estimation.hpp:48:1: note: declared here
pcl::registration::CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::setInputCloud (const typename pcl::registration::CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::PointCloudSourceConstPtr &cloud)
^
In file included from /usr/local/include/pcl-1.8/pcl/sample_consensus/sac_model.h:52:0,
from /usr/local/include/pcl-1.8/pcl/sample_consensus/sac.h:45,
from /usr/local/include/pcl-1.8/pcl/sample_consensus/ransac.h:44,
from /usr/local/include/pcl-1.8/pcl/registration/icp.h:45,
from /home/alex/Downloads/FeatureBasedAlignment-master/alignment.h:6,
from /home/alex/Downloads/FeatureBasedAlignment-master/alignment.cxx:1:
/usr/local/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function ‘void __static_initialization_and_destruction_0(int, int)’:
/usr/local/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: ‘pcl::SAC_SAMPLE_SIZE’ is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations]
SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
^
/usr/local/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: note: declared here
[ 11%] Building CXX object CMakeFiles/pcl_alignment.dir/util.cxx.o
[ 17%] Linking CXX static library libpcl_alignment.a
[ 17%] Built target pcl_alignment
Scanning dependencies of target distance
[ 23%] Building CXX object CMakeFiles/distance.dir/distance.cxx.o
[ 29%] Linking CXX executable distance
/usr/bin/ld: CMakeFiles/distance.dir/distance.cxx.o: undefined reference to symbol '_ZN3pcl11KdTreeFLANNINS_8PointXYZEN5flann9L2_SimpleIfEEE10setEpsilonEf'
/usr/local/lib/libpcl_kdtree.so.1.8: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/distance.dir/build.make:158: recipe for target 'distance' failed
make[2]: *** [distance] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/distance.dir/all' failed
make[1]: *** [CMakeFiles/distance.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
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