final version code

CMakeLists.txt

@@ -1,15 +1,21 @@
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 
-find_package(PCL 1.7 REQUIRED)
-
+set(PCL_DIR "/usr/local/share/pcl-1.8")
+#find_package(PCL 1.9 REQUIRED HINTS "~/local/")
+find_package(PCL 1.7 REQUIRED PATHS "./" NO_DEFAULT_PATH)
+# find_package(PCL 1.7 REQUIRED PATHS "./")
 list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
 
-include_directories(${PCL_INCLUDE_DIRS} include)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3 -DNDEBUG -fopenmp")
+
+message("\nPCL include: \n${PCL_INCLUDE_DIRS}\n")
+include_directories("./pcl-1.7;/usr/include/eigen3;~/local/flann/include;" include)
+
 link_directories(${PCL_LIBRARY_DIRS})
 add_definitions(${PCL_DEFINITIONS} -O3 -DNDEBUG -DPCL_NO_PRECOMPILE)
+add_executable (pc_pipeline src/modules.cpp src/utils.cpp src/read_config.cpp src/pc_pipeline.cpp)
+target_link_libraries (pc_pipeline ${PCL_LIBRARIES})
 
-add_executable (pc-registration src/utils.cpp src/pc-registration.cpp)
-target_link_libraries (pc-registration ${PCL_LIBRARIES})
+set_property(TARGET pc_pipeline PROPERTY CXX_STANDARD 11)
 
-set_property(TARGET pc-registration PROPERTY CXX_STANDARD 11)
+SET(EXECUTABLE_OUTPUT_PATH .././bin) 

Makefile

@@ -0,0 +1,16 @@
+BUILD_DIR = ./build
+BIN_DIR = ./bin
+
+.PHONY:build
+
+build:
+	mkdir $(BUILD_DIR); cd $(BUILD_DIR); cmake ..; make;
+
+clean:
+	rm -rf build/*;
+
+clean_result:
+	rm -rf result/result*
+
+run:
+	cd $(BIN_DIR); ./pc_pipeline

bin/config.txt

@@ -0,0 +1,46 @@
+[File Directory Parameters]
+Dataset_Directory: ../sample_data/
+Result_Directory: ../result/
+
+[Normal Estimation Parameters]
+Normal_Search_Radius: 0.75
+Normal_Use_Customized_KDTree: true
+Normal_Max_Leaf_Size: 64
+
+
+[Key Point Detection Parameters]
+Key_Point_Detection_Module: NARF
+
+
+[Feature Description Parameters]
+Feature_Search_Radius: 0.85
+Feature_Module: SHOT
+
+
+[Correspondence Estimation Parameters]
+Corr_Est_Use_Reciprocal_Search: true
+
+
+[Correspondence Rejection Parameters]
+Ransac_Threshold: 0.2
+Ransac_Max_Iteration: 10000
+
+
+[ICP Parameters]
+ICP_Solver: SVD
+ICP_Max_Iteration: 15
+ICP_Use_Ransac: true
+ICP_Use_Reciprocal_Search: true
+
+ICP_Transformation_Epsilon: 1e-9
+ICP_Max_Correspondence_Distance: 1.2
+ICP_Euclidean_Fitness_Epsilon: 1e-6
+ICP_Ransac_Outlier_Rejection_Threshold: 120
+
+ICP_Use_Customized_KDTree: true
+ICP_Max_Leaf_Size: 32
+
+[Approximation Search Parameters]
+Approx_Radius_Search_Para: 0
+Approx_Nearest_Search_Para: 0
+Save_Approx_Data: false

include/modules.h

@@ -0,0 +1,32 @@
+#ifndef MODULES_H
+#define MODULES_H
+
+#include "typedefs.h"
+
+extern "C" {
+
+void filter(FeatureCloud &cloud);
+void downSample(FeatureCloud &cloud, float gridsize);
+
+void keyPointsNARF(FeatureCloud &cloud);
+void keyPointsSIFT(FeatureCloud &cloud);
+void keyPointsHARRIS(FeatureCloud &cloud);
+
+void constructPointNormal(FeatureCloud &source_cloud, FeatureCloud &target_cloud);
+void computeSurfaceNormals (FeatureCloud &cloud, std::vector<int> &LF_points_counter, \
+	std::vector<int> &LF_operations_counter);
+
+void computeFeatures_FPFH (FeatureCloud &cloud, float R);
+void computeFeatures_SHOT (FeatureCloud &cloud, float R);
+
+void estimateCorrespondence(FeatureCloud &source_cloud, FeatureCloud &target_cloud, \
+	pcl::Correspondences &all_corres);
+void rejectCorrespondences(FeatureCloud &source_cloud, FeatureCloud &target_cloud,\
+  pcl::Correspondences &correspondences, pcl::Correspondences &inliers, \
+  Result *result);
+void iterativeClosestPoints(FeatureCloud &source_cloud, FeatureCloud &target_cloud, Result *result, \
+	pcl::Correspondences &inliers, std::vector<int> &LF_points_counter, std::vector<int> &LF_operations_counter);
+
+}
+
+#endif

include/read_config.h

@@ -0,0 +1,93 @@
+#include <string>  
+#include <map>  
+#include <iostream>  
+#include <fstream>  
+#include <sstream>  
+#include <typeinfo>
+
+// configuration file class
+class Config
+{
+
+protected:
+	// seperator between key and value
+	std::string m_Comment;
+	// seperator between value and comments
+	std::string m_Delimiter;
+	// extracted keys and values
+	std::map<std::string, std::string> m_Contents;
+	// map iterator
+	typedef std::map<std::string, std::string>::const_iterator mapci;
+
+public:
+
+	Config(std::string filename, std::string delimiter = ":", std::string comment = "#");
+	Config();
+
+	template<class T>
+	T Read(const std::string &in_key) const;
+
+	template<class T>
+	T Read(const std::string &in_key, const T &in_value) const;
+
+private:
+
+	friend std::istream &operator >> (std::istream &is, Config &cf);
+
+	template<class T>
+	static T string_as_T(const mapci &p);
+
+	static void Trim(std::string &inout_s);
+
+	struct File_Not_Found
+	{
+		std::string filename;
+		File_Not_Found(const std::string &filename_ = std::string())
+		:filename(filename_){}
+	};
+
+	struct Key_Not_Found
+	{
+		std::string key;
+		Key_Not_Found(const std::string &key_ = std::string())
+		:key(key_){}		
+	};
+
+};
+
+template<class T>
+T Config::string_as_T(const mapci &p)
+{
+	T t;
+	std::istringstream ist(p->second);
+
+	if (typeid(t) == typeid(bool)) // if key is bool type
+	{
+		ist >> std::boolalpha >> t;
+		std::cout << p->first << " : " << t << std::endl;
+		return t;
+	}
+	else if(ist >> t) // if key has a value
+	{
+		std::cout << p->first << " : " << t << std::endl;
+		return t;
+	}
+	else
+	{
+		std::cout << "Value For Key " << p->first << " Is Invalid!" << std::endl;
+		exit(-1);
+	}
+}
+
+template<class T>
+T Config::Read(const std::string &key, const T &value) const
+{
+	mapci p = m_Contents.find(key);
+	if (p == m_Contents.end())
+	{
+		std::cout << "Key " << key << " Not Found!" << std::endl;
+		throw Key_Not_Found(key);
+	}
+	else 
+		return string_as_T<T>(p);
+}