aswsd

.idea/workspace.xml

@@ -132,11 +132,8 @@
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-      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
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       <change beforePath="$PROJECT_DIR$/src/registration_icp/main.cpp" beforeDir="false" afterPath="$PROJECT_DIR$/src/registration_icp/main.cpp" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/registration_icp_student/main.cpp" beforeDir="false" afterPath="$PROJECT_DIR$/src/registration_icp_student/main.cpp" afterDir="false" />
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@@ -147,14 +144,36 @@
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@@ -171,18 +190,6 @@
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@@ -282,17 +289,17 @@
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         <option value="$PROJECT_DIR$/include/registration_icp/helper.hpp" />
         <option value="$PROJECT_DIR$/include/comon/rosbaghelper.hpp" />
-        <option value="$PROJECT_DIR$/src/registration_icp_student/main.cpp" />
-        <option value="$PROJECT_DIR$/src/registration_icp/main.cpp" />
         <option value="$PROJECT_DIR$/CMakeLists.txt" />
+        <option value="$PROJECT_DIR$/src/registration_icp/main.cpp" />
+        <option value="$PROJECT_DIR$/src/registration_icp_student/main.cpp" />
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+  <component name="ProjectFrameBounds">
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@@ -1162,18 +1169,17 @@
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       <workItem from="1547026884628" duration="197000" />
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+      <workItem from="1547055031686" duration="13911000" />
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     <servers />
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   <component name="TimeTrackingManager">
-    <option name="totallyTimeSpent" value="64106000" />
+    <option name="totallyTimeSpent" value="72741000" />
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-    <editor active="true" />
+    <frame x="1094" y="369" width="1906" height="1174" extended-state="0" />
     <layout>
-      <window_info content_ui="combo" id="Project" order="0" visible="true" weight="0.2736954" />
+      <window_info active="true" content_ui="combo" id="Project" order="0" visible="true" weight="0.27604726" />
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@@ -1184,9 +1190,9 @@
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-      <window_info active="true" anchor="bottom" id="Messages" order="8" sideWeight="0.4978701" visible="true" weight="0.19847329" />
+      <window_info anchor="bottom" id="Messages" order="8" sideWeight="0.49785176" visible="true" weight="0.19866285" />
       <window_info anchor="bottom" id="Terminal" order="9" />
-      <window_info anchor="bottom" id="Event Log" order="10" sideWeight="0.5021299" side_tool="true" visible="true" weight="0.19847329" />
+      <window_info anchor="bottom" id="Event Log" order="10" sideWeight="0.5021482" side_tool="true" visible="true" weight="0.19866285" />
       <window_info anchor="bottom" id="Version Control" order="11" />
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@@ -1425,39 +1431,39 @@
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src/registration_icp/main.cpp

@@ -31,27 +31,25 @@ void setCloudColor(CloudRGBA::Ptr cloud, int r, int g, int b) {
     for (int i = 0; i < cloud->size(); ++i) {
         auto& point = (*cloud)[i];
         point.r = r;
-        point.g = g;
-        point.b = b;
+        point.g = g; /* MISSING - Task 2 */
+        point.b = b; /* MISSING - Task 2 */
     }
 }
 
 void prepareHeader(CloudRGBA::Ptr cloud, const std::string frameID) {
     pcl_conversions::toPCL(ros::Time::now(), cloud->header.stamp);
-    cloud->header.frame_id = frameID;
+    cloud->header.frame_id = frameID; /* MISSING - Task 2 */
 }
 
-
-
 CloudRGBA::Ptr downsample(CloudRGBA::Ptr frame, float leafSize) {
-    CloudRGBA::Ptr downsampledCloud(new CloudRGBA);
+    auto downsampledCloud = boost::make_shared<CloudRGBA>();
     if (leafSize == 0) {
         *downsampledCloud = *frame;
         return downsampledCloud;
     }
     // Downsample using voxelgrid
     pcl::VoxelGrid<pcl::PointXYZRGBA> downsample_filter;
-    downsample_filter.setLeafSize(leafSize, leafSize, leafSize);
+    downsample_filter.setLeafSize(leafSize, leafSize, leafSize); /* MISSING - Task 2 */
     downsample_filter.setInputCloud(frame);
     downsample_filter.filter(*downsampledCloud);
 
@@ -71,7 +69,6 @@ int main(int argc, char **argv) {
     // The topic we subscribe to
     std::string cloudSubscribeTopic = "/kinect2/sd/points";
 
-
     // The topic we advertise the complete registered point clouds to
     // We are going to publish clouds ... Therefore we need a publisher!
     ros::Publisher completeCloudPublisher;
@@ -79,16 +76,12 @@ int main(int argc, char **argv) {
 
     ros::Publisher framePublisher, modelPublisher, alignedPublisher;
     framePublisher = node.advertise<CloudRGBA>("/crs/frame", 5);
-    modelPublisher = node.advertise<CloudRGBA>("/crs/model", 5);
-    alignedPublisher = node.advertise<CloudRGBA>("/crs/aligned", 5);
-
+    modelPublisher = node.advertise<CloudRGBA>("/crs/model", 5); /* MISSING - Task 3 */
+    alignedPublisher = node.advertise<CloudRGBA>("/crs/aligned", 5); /* MISSING - Task 3 */
 
     // The topic we subscribe to
     std::string defaultCloudFrame = "kinect2_ir_optical_frame";
 
-
-
-
     // Some ICP Parameters. DO NOT CHANGE THEM!
     double ICPMaxCorrespondenceDistance = 0.2;
     double ICPTransformationEpsilon = 0.00001;
@@ -177,9 +170,9 @@ int main(int argc, char **argv) {
             modelPublisher.publish(downsampledModel);
 
             // Publish the current frame
-            setCloudColor(downsampledFrame, 255, 0, 0);
-            prepareHeader(downsampledFrame, defaultCloudFrame);
-            framePublisher.publish(downsampledFrame);
+            setCloudColor(downsampledFrame, 255, 0, 0); /* MISSING - Task 3 */
+            prepareHeader(downsampledFrame, defaultCloudFrame); /* MISSING - Task 3 */
+            framePublisher.publish(downsampledFrame); /* MISSING - Task 3 */
 
             // Publish the current, donwsampled aligned frame
             auto downsampledAlign = downsample(transformedCloud, ICPDownsampleLeafSize);
@@ -187,7 +180,6 @@ int main(int argc, char **argv) {
             prepareHeader(downsampledAlign, defaultCloudFrame);
             alignedPublisher.publish(downsampledAlign);
 
-
             // The current frame will be the model for the next frame
             model = frame;
         }

src/registration_icp_student/main.cpp

@@ -23,36 +23,33 @@
 #include <comon/rosbaghelper.hpp>
 #include <comon/pclhelper.hpp>
 
+
 // Less typing
 using CloudRGBA = pcl::PointCloud<pcl::PointXYZRGBA>;
 
-
-// Sets all points of the cloud to a specific color. All values have to be in [0, 255]
 void setCloudColor(CloudRGBA::Ptr cloud, int r, int g, int b) {
     for (int i = 0; i < cloud->size(); ++i) {
         auto& point = (*cloud)[i];
         point.r = r;
-        point.g = g;
-        point.b = b;
+        /* MISSING - Task 2 */
+        /* MISSING - Task 2 */
     }
 }
 
-// Prepares the header of the cloud and sets the frame id
 void prepareHeader(CloudRGBA::Ptr cloud, const std::string frameID) {
     pcl_conversions::toPCL(ros::Time::now(), cloud->header.stamp);
-    cloud->header.frame_id = frameID;
+    cloud->header.frame_id = ""; /* FIX ME - Task 2 */
 }
 
-// Downsamples the cloud using a voxelgrid filter using the provided leaf size.
 CloudRGBA::Ptr downsample(CloudRGBA::Ptr frame, float leafSize) {
-    CloudRGBA::Ptr downsampledCloud(new CloudRGBA);
+    auto downsampledCloud = boost::make_shared<CloudRGBA>();
     if (leafSize == 0) {
         *downsampledCloud = *frame;
         return downsampledCloud;
     }
     // Downsample using voxelgrid
     pcl::VoxelGrid<pcl::PointXYZRGBA> downsample_filter;
-    downsample_filter.setLeafSize(leafSize, leafSize, leafSize);
+    downsample_filter.setLeafSize(0, 0, 0); /* FIX ME - Task 2 */
     downsample_filter.setInputCloud(frame);
     downsample_filter.filter(*downsampledCloud);
 
@@ -63,44 +60,34 @@ int main(int argc, char **argv) {
     // The name of this node
     std::string nodeName = "crs_tf_publisher";
 
-    // Init Basic ROS stuff
     ros::init(argc, argv, nodeName);
     auto node = ros::NodeHandle();
 
     // The used bag file
     std::string bagFilePath = "/home/marius/bockdata/bags/room2.bag";
 
-    // The topic we subscribe to
-    std::string cloudSubscribeTopic = "/kinect2/sd/points";
-
-    // The topic we advertise the complete registered point clouds to
-    // We are going to publish clouds ... Therefore we need a publisher!
-    ros::Publisher completeCloudPublisher;
-    std::string cloudAdvertiseTopic = "/crs/points";
 
-    // Setup the publisher for the frame, model and aligned
-    ros::Publisher framePublisher, modelPublisher, alignedPublisher;
+    ros::Publisher framePublisher, modelPublisher, alignedPublisher, completeCloudPublisher;
     framePublisher = node.advertise<CloudRGBA>("/crs/frame", 5);
-    modelPublisher = node.advertise<CloudRGBA>("/crs/model", 5);
-    alignedPublisher = node.advertise<CloudRGBA>("/crs/aligned", 5);
+    modelPublisher = node.advertise<CloudRGBA>("", 5); /* FIX ME - Task 3 */
+    alignedPublisher = node.advertise<CloudRGBA>("", 5); /* FIX ME - Task 3 */
+    completeCloudPublisher = node.advertise<CloudRGBA>("", 5); /* FIX ME - Task 3 */
 
     // The topic we subscribe to
     std::string defaultCloudFrame = "kinect2_ir_optical_frame";
 
-    // Some ICP Parameters.
+    // Some ICP Parameters. DO NOT CHANGE THEM!
     double ICPMaxCorrespondenceDistance = 0.2;
     double ICPTransformationEpsilon = 0.00001;
     double ICPEuclidianFitnessEpsilon = 0.1;
 
+
     // The leaf size of the VoxelGrid Filter
     double ICPDownsampleLeafSize = 0.1;
 
     // The maximal of ICP iterations
     int ICPMaxIterations = 20;
 
-    // We are going to advertise the result cloud
-    completeCloudPublisher = node.advertise<CloudRGBA>(cloudAdvertiseTopic, 5);
-
     // The ROS Bag Helper.
     BagFileHelper helper;
     helper.openBagFile(bagFilePath);
@@ -118,16 +105,16 @@ int main(int argc, char **argv) {
     CloudRGBA::Ptr model, frame;
 
     // The main loop runs as long as there are new clouds avaiable and [CRTL + c] has not been pressed
-    while (helper.hasTopicAvailableMessages(cloudSubscribeTopic) && ros::ok()) {
+    while (helper.hasTopicAvailableMessages("/kinect2/sd/points") && ros::ok()) {
         // Gather the next cloud from our bag file
-        frame = helper.getNextCloudRGBAForTopic(cloudSubscribeTopic);
+        frame = helper.getNextCloudRGBAForTopic("/kinect2/sd/points");
 
         if (model == nullptr) {
             // Since it is the first loop iteration we do not have a model yet.
             // The current frame will be the model for the next frame
             model = frame;
         } else {
-             // Downsample the input clouds
+            // Downsample the input clouds
             auto downsampledModel = downsample(model, ICPDownsampleLeafSize);
             auto downsampledFrame = downsample(frame, ICPDownsampleLeafSize);
 
@@ -166,18 +153,18 @@ int main(int argc, char **argv) {
             completeCloudPublisher.publish(completeCloud);
 
             // Publish the current model
-            setCloudColor(downsampledModel, 0, 255, 0);
+            setCloudColor(downsampledModel, 0, 0, 0); /* FIX ME - Task 3 */
             prepareHeader(downsampledModel, defaultCloudFrame);
             modelPublisher.publish(downsampledModel);
 
             // Publish the current frame
-            setCloudColor(downsampledFrame, 255, 0, 0);
+            setCloudColor(downsampledFrame, 0, 0, 0); /* FIX ME - Task 3 */
             prepareHeader(downsampledFrame, defaultCloudFrame);
             framePublisher.publish(downsampledFrame);
 
             // Publish the current, donwsampled aligned frame
             auto downsampledAlign = downsample(transformedCloud, ICPDownsampleLeafSize);
-            setCloudColor(downsampledAlign, 0, 0, 255);
+            setCloudColor(downsampledAlign, 0, 0, 0); /* FIX ME - Task 3 */
             prepareHeader(downsampledAlign, defaultCloudFrame);
             alignedPublisher.publish(downsampledAlign);