objectdetector/od_multialgo_pc.cpp

/*
Copyright (c) 2015, Kripasindhu Sarkar
All rights reserved.

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    * 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
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*/
#include <detectors/misc/detection/ODDetectorMultiAlgo.h>
#include <opencv2/highgui.hpp>
#include "common/utils/ODFrameGenerator.h"

#include "common/pipeline/ObjectDetector.h"
#include "common/pipeline/ODDetection.h"


/** \brief Example of the usage of Multi algorithm detector for point cloud
   *
   * \author Kripasindhu Sarkar
   *
   */


#include "common/pipeline/ObjectDetector.h"
#include "common/pipeline/ODDetection.h"
#include "detectors/global3D/ODPointCloudGlobalMatching.h"
#include "common/utils/ODFrameGenerator.h"


int main(int argc, char *argv[])
{

  std::string training_input_dir(argv[1]), trained_data_dir(argv[2]);


  //detector
  od::ODDetectorMultiAlgo *detector = new od::ODDetectorMultiAlgo(trained_data_dir);
  detector->setTrainingInputLocation(training_input_dir);
  detector->init();


  //GUI and feedback
  od::ODScenePointCloud<pcl::PointXYZRGBA> *frame;

  pcl::visualization::PCLVisualizer vis ("kinect");
  size_t previous_cluster_size = 0;


  od::ODFrameGenerator<od::ODScenePointCloud<pcl::PointXYZRGBA>, od::GENERATOR_TYPE_DEVICE> frameGenerator;
  while(frameGenerator.isValid())
  {

    frame = frameGenerator.getNextFrame();

    //remove previous point clouds and text and add new ones in the visualizer
    vis.removePointCloud ("frame");
    vis.addPointCloud<pcl::PointXYZRGBA> (frame->getPointCloud(), "frame");
    for (size_t i = 0; i < previous_cluster_size; i++)
    {
      std::stringstream cluster_name;
      cluster_name << "cluster_" << i;
      vis.removePointCloud (cluster_name.str ());
      vis.removeText3D (cluster_name.str() + "_txt");

      cluster_name << "_ply_model_";
      vis.removeShape (cluster_name.str ());
    }

    //Detect

    od::ODDetections3D * detections = detector->detectOmni(frame);


    //add all the detections in the visualizer with its id as text
    for (size_t i = 0; i < detections->size (); i++)
    {
      std::stringstream cluster_name;
      cluster_name << "cluster_" << i;
      pcl::visualization::PointCloudColorHandlerRandom<pcl::PointXYZ> random_handler (detections->at(i)->getMetainfoCluster());
      vis.addPointCloud<pcl::PointXYZ> (detections->at(i)->getMetainfoCluster(), random_handler, cluster_name.str ());

      pcl::PointXYZ pos; pos.x = detections->at(i)->getLocation()[0]; pos.y = detections->at(i)->getLocation()[1]; pos.z = detections->at(i)->getLocation()[2];
      vis.addText3D (detections->at(i)->getId(), pos, 0.015f, 1, 0, 1, cluster_name.str() + "_txt", 0);
    }
    previous_cluster_size = detections->size ();


    vis.spinOnce ();
  }

  return 0;
}