first commit

Author: akselsv

GUI Program/RansacGAqt/CMakeLists.txt

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+cmake_minimum_required (VERSION 3.2 FATAL_ERROR)
+project(ransac_ga_qt)
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+set(CMAKE_CXX_FLAGS "-fPIC")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -std=c++11")
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/outputDirectory)
+set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/third_party/libfreenect2pclgrabber-master/modules)
+
+find_package (Qt4 REQUIRED)
+#find_package (Qt5 REQUIRED COMPONENTS Core Gui Widgets)
+find_package (VTK REQUIRED)
+find_package (PCL 1.7.1 REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(Freenect2 REQUIRED)
+
+
+set  (project_SOURCES src/main.cpp src/window/pclviewer.cpp src/objects/objects_body.cpp src/ransac/ransac_body.cpp)
+set  (project_HEADERS include/pclviewer.h include/objects.h include/ransac.h)
+set  (project_FORMS ui/pclviewer.ui)
+
+QT4_WRAP_UI  (project_FORMS_HEADERS ${project_FORMS})
+QT4_WRAP_CPP (project_HEADERS_MOC   ${project_HEADERS})
+
+file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp)
+FILE(GLOB_RECURSE LibFiles "include/*.h")
+add_custom_target(headers SOURCES ${LibFiles})
+include(${QT_USE_FILE})
+ADD_DEFINITIONS (${QT_DEFINITIONS})
+
+include_directories (include
+            third_party/versor/include
+        third_party/versor/include/vsr
+        third_party/libfreenect2pclgrabber-master
+		${PCL_INCLUDE_DIRS}
+		${FREENECT2_INCLUDE_DIRS}
+		${OpenCV_INCLUDE_DIRS}
+		${Qt5_INCLUDE_DIRS}
+		${Qt5Widgets_INCLUDE_DIRS}
+		${Qt5Core_INCLUDE_DIRS}
+)
+
+link_directories    (${PCL_LIBRARY_DIRS})
+add_definitions     (${PCL_DEFINITIONS})
+
+add_library(versor
+        third_party/versor/src/space/vsr_cga3D_op.cpp
+        third_party/versor/src/space/vsr_cga3D_frame.cpp
+        third_party/versor/src/space/vsr_cga3D_round.cpp
+        src/main.cpp
+	src/objects/objects_body.cpp
+        src/ransac/ransac_body.cpp
+        #src/window/pclviewer.cpp
+	third_party/libfreenect2pclgrabber-master/k2g.cpp
+	)
+
+set(VTK_LIBRARIES   vtkRendering vtkGraphics vtkHybrid QVTK)
+
+
+#qt5_wrap_ui(project_FORMS_HEADERS ${project_FORMS})
+#qt5_wrap_cpp(project_HEADERS_MOC   ${project_HEADERS})
+
+
+ADD_EXECUTABLE  (main ${project_SOURCES} ${QT_SOURCES} ${project_FORMS_HEADERS} ${project_HEADERS_MOC})
+
+TARGET_LINK_LIBRARIES (main ${QT_LIBRARIES} versor ${PCL_LIBRARIES} ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${FREENECT2_LIBRARY} ${OpenCV_LIBS} ${VTK_LIBRARIES})
+
+
+
+

GUI Program/RansacGAqt/README.md

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+# RansacGAqt
+
+Dependencies:
+
+- Versor library https://github.com/wolftype/versor.git #Alredy included in "third party" folder, does not need to be installed#
+
+Kinect 2 grabber:
+k2g https://github.com/giacomodabisias/libfreenect2pclgrabber.git #Alredy included in "third party folder", does not need to be installed#
+libfreenect2 https://github.com/OpenKinect/libfreenect2/blob/master/README.md #Install this#
+
+
+- OpenCV #Install this#
+- PCL 1.7.2 (depends on: boost, eigen3, flann, vtk) http://pointclouds.org/documentation/tutorials/compiling_pcl_posix.php #Install this#
+ 

GUI Program/RansacGAqt/include/objects.h

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+//
+// Created by Aksel Sveier. Spring 2016
+//
+
+#ifndef RANSACGA_OBJECTS_H
+#define RANSACGA_OBJECTS_H
+
+#endif //RANSACGA_OBJECTS_H
+
+#include <vsr/space/vsr_cga3D_op.h>
+#include <pcl/point_types.h>
+#include <pcl/common/common_headers.h>
+
+using namespace vsr;
+using namespace vsr::cga;
+using namespace pcl;
+
+
+//Class that creates and handles spheres with CGA
+class sphere{
+public:
+    float radius, x, y, z; //Floats for storing the parameters of the sphere
+    Pnt dualSphere; //Stores the IPNS representation
+    Sph sphe; //Stores the OPNS representation
+
+    void defineDual(float x, float y, float z, float r); //Creates a sphere from center(x,y,z) coordinates and radius
+    void defineDual(Pnt p1, Pnt p2, Pnt p3, Pnt p4); //Creates a sphere from 4 points in conformal space.
+    void defineDual(PointCloud<PointXYZRGB>::Ptr cl1, PointCloud<PointXYZRGB>::Ptr cl2, PointCloud<PointXYZRGB>::Ptr cl3, PointCloud<PointXYZRGB>::Ptr cl4); //Creates a sphere from 4 points from a pointcloud.
+    void defineDual(PointCloud<PointXYZRGB>::Ptr cl, vector<int> index); //Creates a sphere in from 4 indexed points in a point cloud
+private:
+    float calcRadius(Pnt dSph); //Function that calculates radius
+    Pnt normalize(Pnt dSph); //Function that normalizes a conformal vector
+};
+
+//Class that creates and handles planes with CGA
+class plane
+{
+public:
+    Pnt dualPlane; //Stores the IPNS representation
+    Pnt normDualPlane; //Stores the normalized IPNS representation
+
+    void defineDual(Pnt p1, Pnt p2, Pnt p3); //Creates a plane from 3 points in conformal space
+    void defineDual(PointCloud<PointXYZRGB>::Ptr cl, int *index); //Creates a plane from 3 indexed points in a point cloud
+private:
+    void normalize(Pnt dPln); //Function that normalizes a conformal vector
+};
+
+//Class that creates and handles circles with CGA
+class circle
+{
+public:
+    float radius = 0; //Float for storing the circle radius
+    Pnt circleCenter; //Point in conformal space for storing the circle center
+    Par circle; //Store the OPNS representation
+    Cir dualCircle; //Stores the IPNS representation
+    Pnt plane; //Stores the plane the the circle lie on
+
+    void defineCircle(Pnt p1, Pnt p2, Pnt p3); //Creates circle from 3 points in conformal space
+    void defineCircle(PointXYZRGB p1, PointXYZRGB p2, PointXYZRGB p3); //Creates a circle from 3 point from a point cloud
+    void defineCircle(PointCloud<PointXYZRGB>::Ptr cl, int *index); //Creates circle from 3 indexed points in a point cloud
+
+private:
+void calcRadius(Pnt p); //Function that finds the cricle radius
+void findNormal(Pnt pln); //Creates the plane that the cricle lie on
+};
+
+//Class that creates and handles cylinders with CGA
+class cylinder{
+//Since there is no representation of a cylinder in CGA a cylinder will be represente by a circle on a plane.
+//The direction of the normal of the plane in the circle center will be the center-axis of the cylinder
+public:
+    Pnt plan; //Store the IPNS representation of a plane
+    Pnt center; //Stores the center in a conformal vector
+    float radius = 0; //Float for storing the radius
+
+    void defineCylinder(Pnt p1, Pnt p2, float rad); //Creates a cylinder from two points in conformal space on the center axis and a radius
+    void defineCylinder(Pnt p1, Pnt p2, Pnt p3); //Creates a cylinder from 3 points in conformal space
+    void defineCylinder(PointCloud<PointXYZRGB>::Ptr cl, int *index); //Creates the cylinder from 3 indexed points in a point cloud
+};
+

GUI Program/RansacGAqt/include/pclviewer.h

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+//
+// Created by Aksel Sveier. Spring 2016
+//
+
+#ifndef PCLVIEWER_H
+#define PCLVIEWER_H
+
+#include <iostream>
+
+// Qt
+#include <QMainWindow>
+#include <QVTKWidget.h>
+
+// Point Cloud Library
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/filters/passthrough.h>
+#include <pcl/filters/extract_indices.h>
+#include <pcl/filters/voxel_grid.h>
+#include <pcl/filters/statistical_outlier_removal.h>
+
+// Visualization Toolkit (VTK)
+#include <vtkRenderWindow.h>
+
+//Grabber
+#include "k2g.h"
+
+//Ransac
+#include <ransac.h>
+#include <vsr/space/vsr_cga3D_op.h>
+
+typedef pcl::PointXYZRGB PointT;
+typedef pcl::PointCloud<PointT> PointCloudT;
+
+namespace Ui
+{
+  class PCLViewer;
+}
+
+class PCLViewer : public QMainWindow
+{
+  Q_OBJECT
+
+public:
+  explicit PCLViewer (QWidget *parent = 0);
+  ~PCLViewer ();
+   //files for storing data
+    ofstream myfile;
+
+   //Datasets
+   boost::shared_ptr<PointCloudT> cl_raw;
+   PointCloudT::Ptr cl_filtered;
+   PointCloudT::Ptr segmented_plane;
+
+   //Delete these
+   PointCloudT::Ptr cam1;
+   PointCloudT::Ptr cam2;
+   PointCloudT::Ptr cam3;
+
+   //Objects
+   ransacSphere ranSph;
+   ransacSpheres ranSpheres;
+   ransacPlane ranPln;
+   ransacCircle ranCir;
+   ransacCylinder2 ranCyl;
+   Pnt plane; //dual representation of plane
+   Pnt sphere; //dual representation of sphere
+   Pnt sphere1;
+   Pnt sphere2; //dual representation of sphere
+   float sphereRadius;
+   float cylRadius;
+   double cylTresh;
+   float inlierTresh;
+
+   std::clock_t t1,t2;
+public slots:
+  void processFrameAndUpdateGUI();
+
+  void pSliderValueChanged (int value);
+
+  void XsliderChanged (int value);
+  void X_2sliderChanged(int value);
+
+  void YsliderChanged (int value);
+  void Y_2sliderChanged(int value);
+
+  void ZsliderChanged (int value);
+  void Z_2sliderChanged(int value);
+
+public Q_SLOTS:
+    /******************************************
+    ** Auto-connections (connectSlotsByName())
+    *******************************************/
+  void on_pushButton_normalize_clicked();
+  void on_pushButton_addNoise_clicked();
+  void on_pushButton_findSphereEx_clicked();
+  void on_pushButton_removeNoise_clicked();
+  void on_pushButton_findCylinderEx_clicked();
+
+protected:
+
+  float x, x_;
+  float y, y_;
+  float z, z_;
+
+private slots:
+
+  void findPlaneClicked();
+
+  void findSphereClicked();
+
+  void findCircleClicked();
+
+  void sphRadius_valueChanged(double value);
+
+  void startStopKinectClicked();
+
+  void segmentPlaneClicked();
+
+  void removeShapesClicked();
+
+  void refreshClicked();
+
+  void checkBoxSegmentClicked();
+
+  void inlierTresh_valueChanged(double value);
+
+
+
+  void findCylinderClicked();
+
+  void cylRadius_valueChanged(double value);
+
+  void meanPointCloudsClicked();
+
+  void nrDatasets_valueChanged(double value);
+
+  void cylTresh_valueChanged(double value);
+
+  void loadImageClicked();
+
+
+
+  void doStuffClicked();
+
+  void confirmClicked();
+
+  void saveImageClicked();
+
+  void checkBoxKeepImageClicked();
+
+  void trackSphereClicked();
+
+  void trackSphere(Pnt sph);
+
+  void trackPlaneClicked();
+
+  void trackPlane();
+
+  void trackSphere2Clicked();
+
+  void applyTrans();
+
+  void findAllSpheresClicked();
+
+  void writeClicked();
+
+  void iterations_valueChanged(double arg1);
+
+
+
+private:
+  K2G *k2g;
+  Ui::PCLViewer *ui;
+  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
+  QTimer* timr;
+
+  //Bools to controle the program
+  bool kinStarted = false;
+  bool grabNewFrame = true;
+  bool segmented = false;
+  bool checkBoxSeg = true;
+  bool dostuff = false;
+  bool allSpheres = false;
+  int allit = 0;
+
+
+  bool sphereFound = false;
+  bool planeFound = false;
+  bool circleFound = false;
+  bool cylinderFound = false;
+  bool trackSph1 = false;
+  bool trackSph2 = false;
+  bool trackPln = false;
+  int whichSphere = 0;
+
+  int frames_saved = 1;
+  int iterations = 10000;
+  bool checkBoxKeep = false;
+
+
+
+  //Object based registration
+  int obj = 1;
+  Eigen::Vector3f O1;
+  Eigen::Vector3f O2;
+  Eigen::Vector3f O3;
+
+
+  //Mean Point Cloud
+  double nrDatasets;
+  PointCloudT::Ptr mean_cloud;
+  pcl::VoxelGrid<PointT> voxel;
+  pcl::StatisticalOutlierRemoval<PointT> stat;
+
+  //Filter
+  pcl::PointIndices::Ptr indices_shown;
+  pcl::PassThrough<PointT>::Ptr pass;
+  pcl::ExtractIndices<pcl::PointXYZRGB> extract;
+  std::vector<int> indices;
+  pcl::PointIndices::Ptr indices_segmented;
+  void filter(PointCloudT::Ptr cl);
+
+};
+
+#endif // PCLVIEWER_H