From f7eecde8614dd3646a322a2e3d0ad74f6bace8d0 Mon Sep 17 00:00:00 2001
From: muehlenb <muehlenb@uni-bremen.de>
Date: Mon, 8 Feb 2021 11:38:38 +0100
Subject: [PATCH] Changed API a bit for registration of multiple kinects via
Grid.
---
.../Private/GridDetector.cpp | 4 +--
.../MultiplePointCloudsRegistrator.cpp | 14 +++++++-
.../Public/GridDetector.h | 32 ++++++-------------
.../Public/MultiplePointCloudsRegistrator.h | 30 ++++++++++++++++-
4 files changed, 53 insertions(+), 27 deletions(-)
diff --git a/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Private/GridDetector.cpp b/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Private/GridDetector.cpp
index 4a8579cc..c1cc0d16 100644
--- a/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Private/GridDetector.cpp
+++ b/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Private/GridDetector.cpp
@@ -1312,8 +1312,8 @@ GridDetectionResult GridDetector::detectGrid(PointCloudImage pointCloud) {
-MultipleGridDetectionResult GridDetector::findCorrespondencePoints(TArray<PointCloudImage> pointClouds) {
- return MultipleGridDetectionResult();
+TArray<TArray<FVector>> matchGridDetectionResults(TArray<GridDetectionResult> results) {
+ return TArray<TArray<FVector>>();
}
MotionControllerResult GridDetector::findMotionControllerInPointcloud(PointCloudImage, MotionControllerAssumptions controllerAssumptions) {
diff --git a/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Private/MultiplePointCloudsRegistrator.cpp b/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Private/MultiplePointCloudsRegistrator.cpp
index 49df09c8..011b4587 100644
--- a/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Private/MultiplePointCloudsRegistrator.cpp
+++ b/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Private/MultiplePointCloudsRegistrator.cpp
@@ -3,10 +3,22 @@
#include "MultiplePointCloudsRegistrator.h"
-MultiplePointCloudsRegistrator::MultiplePointCloudsRegistrator()
+MultiplePointCloudsRegistrator::MultiplePointCloudsRegistrator(int pPointCloudCount)
+ : pointCloudCount(pPointCloudCount)
{
+ correspondencePoints = new TArray<pcl::PointCloud<pcl::PointXYZ>>[pPointCloudCount];
}
MultiplePointCloudsRegistrator::~MultiplePointCloudsRegistrator()
{
+ delete[] correspondencePoints;
+ correspondencePoints = nullptr;
}
+
+void MultiplePointCloudsRegistrator::addCorrespondencePoints(TArray<TArray<FVector>> points) {
+
+}
+
+TArray<FTransform> MultiplePointCloudsRegistrator::registrateInto(int pointCloudID) {
+ return TArray<FTransform>();
+}
\ No newline at end of file
diff --git a/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Public/GridDetector.h b/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Public/GridDetector.h
index 992b1ebc..09f68cec 100644
--- a/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Public/GridDetector.h
+++ b/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Public/GridDetector.h
@@ -25,21 +25,6 @@ struct PointCloudImage {
{}
};
-/*
-* Struct which contains the results of grid detection in multiple
-* point clouds.
-*
-* In this case, I simply use array of arrays so the user can simply
-* use the hole points and give them directly to the multiple point cloud
-* registrator instead of returning a TArray<GridDetectionResult>.
-*/
-
-struct MultipleGridDetectionResult {
- TArray<bool> gridFound;
- TArray<TArray<FVector>> holePoints;
- TArray<FTransform> gridTransform;
-};
-
/*
* Result of a grid detection in a single point cloud.
*/
@@ -47,7 +32,7 @@ struct MultipleGridDetectionResult {
struct GridDetectionResult {
bool gridFound = false;
- // Mid points of the grid holes (not sorted yet):
+ // Mid points of the grid holes (not sorted yet!):
TArray<FVector> centersOfFoundHoles;
// Location of the grid center:
@@ -100,13 +85,6 @@ public:
GridDetector();
~GridDetector();
- /*
- * Finds correspondence points between the given point clouds. For each image, this algorithm
- * can return multiple points.
- */
-
- MultipleGridDetectionResult findCorrespondencePoints(TArray<PointCloudImage> pointClouds);
-
/*
* Detect the grid in a single point cloud.
*/
@@ -114,6 +92,14 @@ public:
GridDetectionResult detectGrid(PointCloudImage pointCloud);
+ /**
+ * Matches all the hole centers of the grid detection result and returns for each GridDetectionResult
+ * an array with the matched hole centers (that means that a specific hole center has the same index
+ * in each array, considering the orientation).
+ */
+
+ TArray<TArray<FVector>> matchGridDetectionResults(TArray<GridDetectionResult> results);
+
/*
* Finds the motion controller positions in a given point cloud by finding the grid and use
* assumptions about where the motion controllers are relative to the grid.
diff --git a/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Public/MultiplePointCloudsRegistrator.h b/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Public/MultiplePointCloudsRegistrator.h
index 67bbeb05..e3a9b385 100644
--- a/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Public/MultiplePointCloudsRegistrator.h
+++ b/VRKinectReg/Plugins/VRKinectRegistration/Source/VRKinectRegistration/Public/MultiplePointCloudsRegistrator.h
@@ -4,13 +4,41 @@
#include "CoreMinimal.h"
+#include "GridDetector.h"
+
+THIRD_PARTY_INCLUDES_START
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
+#include <pcl/registration/transformation_estimation.h>
+#include <pcl/registration/transformation_estimation_svd.h>
+THIRD_PARTY_INCLUDES_END
+
+
/**
*
*/
class VRKINECTREGISTRATION_API MultiplePointCloudsRegistrator
{
+private:
+ int pointCloudCount;
+ TArray<pcl::PointCloud<pcl::PointXYZ>>* correspondencePoints;
+
public:
- MultiplePointCloudsRegistrator();
+ MultiplePointCloudsRegistrator(int pointCloudCount);
~MultiplePointCloudsRegistrator();
+
+ /**
+ * Adds correspondence points of multiple pointclouds.
+ */
+
+ void addCorrespondencePoints(TArray<TArray<FVector>> points);
+
+ /**
+ * Registrates all the point clouds into the pointcloud of the given pointCloudID.
+ *
+ * The transform with the id of the given point cloud id will be the identity.
+ */
+
+ TArray<FTransform> registrateInto(int pointCloudID);
};
--
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