#include <Eigen/Core>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/common/time.h>
#include <pcl/console/print.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/features/fpfh_omp.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/pcd_io.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/sample_consensus_prerejective.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <string>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
// Types
typedef pcl::PointNormal PointNT;
typedef pcl::PointCloud<PointNT> PointCloudT;
typedef pcl::FPFHSignature33 FeatureT;
typedef pcl::FPFHEstimationOMP<PointNT, PointNT, FeatureT> FeatureEstimationT;
typedef pcl::PointCloud<FeatureT> FeatureCloudT;
typedef pcl::visualization::PointCloudColorHandlerCustom<PointNT> ColorHandlerT;//handle the param of the align in the txt to save the fucking time of complie
int parseConfigFile(const std::string &filepath,char *objFile,char *sceFile,float *downLeaf
);// Align a rigid object to a scene with clutter and occlusions
int main(int argc, char **argv)
{// Point cloudsPointCloudT::Ptr object(new PointCloudT);PointCloudT::Ptr object_aligned(new PointCloudT);PointCloudT::Ptr scene(new PointCloudT);FeatureCloudT::Ptr object_features(new FeatureCloudT);FeatureCloudT::Ptr scene_features(new FeatureCloudT);// Get input object and scene/*if (argc != 3){pcl::console::print_error("Syntax is: %s object.pcd scene.pcd\n", argv[0]);return (1);}*//*std::string paramFilePath = "data/param.txt";char *obj_filepath = { '\0' };char *sce_filepath = { '\0' };float *downsample_leaf = nullptr;parseConfigFile(paramFilePath,obj_filepath,sce_filepath,downsample_leaf);*/// Load object and scenepcl::console::print_highlight("Loading point clouds...\n");if (pcl::io::loadPCDFile<PointNT>("data/obj_seg.pcd", *object) < 0 ||//"data/obj_seg.pcd"pcl::io::loadPCDFile<PointNT>("data/sce_seg.pcd", *scene) < 0)   //"data/sce_seg.pcd"{pcl::console::print_error("Error loading object/scene file!\n");return (1);}// Downsamplepcl::console::print_highlight("Downsampling...\n");pcl::VoxelGrid<PointNT> grid;const float leaf = 0.08f;//0.005f == resolution of 5mmgrid.setLeafSize(leaf, leaf, leaf);grid.setInputCloud(object);grid.filter(*object);grid.setInputCloud(scene);grid.filter(*scene);// Estimate normals for scenepcl::console::print_highlight("Estimating scene normals...\n");pcl::NormalEstimationOMP<PointNT, PointNT> nest;nest.setRadiusSearch(0.01);nest.setInputCloud(scene);nest.compute(*scene);// Estimate featurespcl::console::print_highlight("Estimating features...\n");FeatureEstimationT fest;fest.setRadiusSearch(0.025);fest.setInputCloud(object);fest.setInputNormals(object);fest.compute(*object_features);fest.setInputCloud(scene);fest.setInputNormals(scene);fest.compute(*scene_features);// Perform alignmentpcl::console::print_highlight("Starting alignment...\n");pcl::SampleConsensusPrerejective<PointNT, PointNT, FeatureT> align;align.setInputSource(object);align.setSourceFeatures(object_features);align.setInputTarget(scene);align.setTargetFeatures(scene_features);align.setMaximumIterations(100000); // Number of RANSAC iterations 50000align.setNumberOfSamples(3); // Number of points to sample for generating/prerejecting a posealign.setCorrespondenceRandomness(5); // Number of nearest features to usealign.setSimilarityThreshold(0.9f); // Polygonal edge length similarity thresholdalign.setMaxCorrespondenceDistance(2.5f * leaf); // Inlier thresholdalign.setInlierFraction(0.25f); // Required inlier fraction for accepting a pose hypothesis{pcl::ScopeTime t("Alignment");align.align(*object_aligned);}if (align.hasConverged()){// Print resultsprintf("\n");Eigen::Matrix4f transformation = align.getFinalTransformation();pcl::console::print_info("    | %6.3f %6.3f %6.3f | \n", transformation(0, 0), transformation(0, 1), transformation(0, 2));pcl::console::print_info("R = | %6.3f %6.3f %6.3f | \n", transformation(1, 0), transformation(1, 1), transformation(1, 2));pcl::console::print_info("    | %6.3f %6.3f %6.3f | \n", transformation(2, 0), transformation(2, 1), transformation(2, 2));pcl::console::print_info("\n");pcl::console::print_info("t = < %0.3f, %0.3f, %0.3f >\n", transformation(0, 3), transformation(1, 3), transformation(2, 3));pcl::console::print_info("\n");pcl::console::print_info("Inliers: %i/%i\n", align.getInliers().size(), object->size());// Show alignmentpcl::visualization::PCLVisualizer visu("Alignment");visu.addPointCloud(scene, ColorHandlerT(scene, 0.0, 255.0, 0.0), "scene");visu.addPointCloud(object_aligned, ColorHandlerT(object_aligned, 0.0, 0.0, 255.0), "object_aligned");visu.spin();system("PAUSE");}else{pcl::console::print_error("Alignment failed!\n");system("PAUSE");return (1);}return (0);
}int parseConfigFile(const std::string &filepath,char *objFile,char *sceFile,float *downLeaf
)
{// open the configuration fileFILE *file = fopen(filepath.c_str(), "r");//FILE *stream;//testif (!file){fprintf(stderr, "Cannot parse configuration file \"%s\".\n",filepath.c_str());exit(1);}//read parameterschar buf[256];while (fscanf(file, "%s", buf) != EOF) {switch (buf[0]) {case '#':fgets(buf, sizeof(buf), file);break;case'o':fgets(buf, sizeof(buf), file);memcpy(objFile, buf + 1, strlen(buf) - 2);//printf("%s", objFile);break;case's':fgets(buf, sizeof(buf), file);memcpy(sceFile, buf + 1, strlen(buf) - 2);break;case'l':fscanf(file, "%f", downLeaf);}}return 0;}