PrimitiveExtractionParameterTuning.cpp
Go to the documentation of this file.
1 /*
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @package VisionX::ArmarXObjects::PrimitiveExtractionParameterTuning
17  * @author Peter Kaiser ( peter dot kaiser at kit dot edu )
18  * @date 2017
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
23 #include "PrimitiveExtractionParameterTuning.h"
24 
25 #include <pcl/octree/octree.h>
26 
27 #include <ArmarXCore/core/system/ArmarXDataPath.h>
28 
29 using namespace armarx;
30 
31 void
32 PrimitiveExtractionParameterTuning::onInitPointCloudProcessor()
33 {
34  primitivesProviderName = getProperty<std::string>("PrimitivesProviderName").getValue();
35  usingPointCloudProvider(primitivesProviderName);
36 
37  usingProxy(getProperty<std::string>("PointCloudProviderName").getValue());
38  usingProxy(getProperty<std::string>("PointCloudSegmenterName").getValue());
39  usingProxy(getProperty<std::string>("PrimitiveExtractorName").getValue());
40 
41  sourcePointCloudFilename = getProperty<std::string>("SourcePointCloud").getValue();
42  referencePointCloudFilename = getProperty<std::string>("GroundTruthPointCloud").getValue();
43  exportDirectory = getProperty<std::string>("ExportDirectory").getValue();
44 
45  // Load reference point cloud
46  if (!ArmarXDataPath::getAbsolutePath(sourcePointCloudFilename, sourcePointCloudFilename) ||
47  !ArmarXDataPath::getAbsolutePath(referencePointCloudFilename,
48  referencePointCloudFilename) ||
49  !ArmarXDataPath::getAbsolutePath(exportDirectory, exportDirectory))
50  {
51  ARMARX_ERROR << "Could not find point cloud files in ArmarXDataPath";
52  return;
53  }
54 
55  referencePointCloud.reset(new pcl::PointCloud<pcl::PointXYZRGBL>());
56  if (pcl::io::loadPCDFile(referencePointCloudFilename.c_str(), *referencePointCloud) == -1)
57  {
58  ARMARX_WARNING << "Unable to load point cloud from file "
59  << getProperty<std::string>("GroundTruthPointCloud").getValue();
60  return;
61  }
62 
63  // Initialize default parameters
64  extractionPrm.minSegmentSize = 100;
65  extractionPrm.maxSegmentSize = 250000000;
66  extractionPrm.euclideanClusteringTolerance = 30;
67  extractionPrm.outlierThreshold = 20;
68 
69  extractionPrm.planeMaxIterations = 100;
70  extractionPrm.planeDistanceThreshold = 40;
71  extractionPrm.planeNormalDistance = 10;
72 
73  extractionPrm.cylinderMaxIterations = 100;
74  extractionPrm.cylinderDistanceThreshold = 10;
75  extractionPrm.cylinderRadiusLimit = 10;
76 
77  extractionPrm.sphereMaxIterations = 100;
78  extractionPrm.sphereDistanceThreshold = 90;
79  extractionPrm.sphereNormalDistance = 10;
80  extractionPrm.circularDistanceThreshold = 10;
81 
82  segmentationPrm.minSegmentSize = 5;
83  segmentationPrm.voxelResolution = 20;
84  segmentationPrm.seedResolution = 70;
85  segmentationPrm.colorImportance = 0;
86  segmentationPrm.spatialImportance = 1;
87  segmentationPrm.normalImportance = 4;
88  segmentationPrm.concavityThreshold = 10;
89  segmentationPrm.smoothnessThreshold = 0.1;
90 
91  bestFitness = -std::numeric_limits<float>::infinity();
92 
93  // Initialize bounds
94  bounds_segmentation_minSegmentSize = Eigen::Vector2f(100, 1000);
95  bounds_segmentation_maxSegmentSize = Eigen::Vector2f(250000000, 250000000);
96  bounds_segmentation_euclideanClusteringTolerance = Eigen::Vector2f(1, 100);
97  bounds_segmentation_outlierThreshold = Eigen::Vector2f(1, 100);
98  bounds_segmentation_planeMaxIterations = Eigen::Vector2f(100, 100);
99  bounds_segmentation_planeDistanceThreshold = Eigen::Vector2f(1e-6, 100);
100  bounds_segmentation_planeNormalDistance = Eigen::Vector2f(1e-6, 100);
101  bounds_segmentation_cylinderMaxIterations = Eigen::Vector2f(100, 100);
102  bounds_segmentation_cylinderDistanceThreshold = Eigen::Vector2f(1e-6, 100);
103  bounds_segmentation_cylinderRadiusLimit = Eigen::Vector2f(1e-6, 100);
104  bounds_segmentation_sphereMaxIterations = Eigen::Vector2f(100, 100);
105  bounds_segmentation_sphereDistanceThreshold = Eigen::Vector2f(1e-6, 100);
106  bounds_segmentation_sphereNormalDistance = Eigen::Vector2f(1e-6, 100);
107  bounds_segmentation_circularDistanceThreshold = Eigen::Vector2f(1, 100);
108  bounds_primitives_minSegmentSize = Eigen::Vector2f(1, 100);
109  bounds_primitives_voxelResolution = Eigen::Vector2f(1, 100);
110  bounds_primitives_seedResolution = Eigen::Vector2f(1, 100);
111  bounds_primitives_colorImportance = Eigen::Vector2f(0, 0);
112  bounds_primitives_spatialImportance = Eigen::Vector2f(1e-6, 100);
113  bounds_primitives_normalImportance = Eigen::Vector2f(1e-6, 100);
114  bounds_primitives_concavityThreshold = Eigen::Vector2f(1e-6, 100);
115  bounds_primitives_smoothnessThreshold = Eigen::Vector2f(1e-6, 100);
116 }
117 
118 void
119 PrimitiveExtractionParameterTuning::onConnectPointCloudProcessor()
120 {
121  pointCloudProvider = getProxy<visionx::FakePointCloudProviderInterfacePrx>(
122  getProperty<std::string>("PointCloudProviderName").getValue());
123  if (!pointCloudProvider)
124  {
125  ARMARX_ERROR << "Could not obtain point cloud provider proxy";
126  return;
127  }
128 
129  pointCloudSegmenter = getProxy<visionx::PointCloudSegmenterInterfacePrx>(
130  getProperty<std::string>("PointCloudSegmenterName").getValue());
131  if (!pointCloudSegmenter)
132  {
133  ARMARX_ERROR << "Could not obtain point cloud segmenter proxy";
134  return;
135  }
136 
137  primitiveExtractor = getProxy<visionx::PrimitiveMapperInterfacePrx>(
138  getProperty<std::string>("PrimitiveExtractorName").getValue());
139  if (!primitiveExtractor)
140  {
141  ARMARX_ERROR << "Could not obtain primitive extractor";
142  return;
143  }
144 
145  iteration = 1;
146 
147  primitiveExtractor->setParameters(extractionPrm);
148  pointCloudSegmenter->setLccpParameters(segmentationPrm);
149 
150  pointCloudProvider->setPointCloudFilename(sourcePointCloudFilename);
151  pointCloudProvider->begin_startCaptureForNumFrames(1);
152 }
153 
154 void
155 PrimitiveExtractionParameterTuning::onDisconnectPointCloudProcessor()
156 {
157 }
158 
159 void
160 PrimitiveExtractionParameterTuning::onExitPointCloudProcessor()
161 {
162 }
163 
164 void
165 PrimitiveExtractionParameterTuning::process()
166 {
167  if (!waitForPointClouds(primitivesProviderName, 10000))
168  {
169  return;
170  }
171 
172  pcl::PointCloud<pcl::PointXYZL>::Ptr primitives(new pcl::PointCloud<pcl::PointXYZL>());
173  if (!getPointClouds(primitivesProviderName, primitives))
174  {
175  ARMARX_WARNING << "Unable to get point cloud data.";
176  return;
177  }
178 
179  float fitness = compareLabeledPointClouds(primitives, referencePointCloud);
180  ARMARX_INFO << "Processed point cloud #" << iteration << " received (fitness = " << fitness
181  << ")";
182 
183  if (fitness > bestFitness)
184  {
185  ARMARX_INFO << "New best parameter set found";
186  bestSegmentationPrm = segmentationPrm;
187  bestExtractionPrm = extractionPrm;
188  bestFitness = fitness;
189 
190  exportBestSetup(exportDirectory, primitives, bestSegmentationPrm, bestExtractionPrm);
191  }
192  else
193  {
194  ARMARX_INFO << "Current parameter set not better";
195  }
196 
197  iteration++;
198  generateNewParameterSet();
199 
200  primitiveExtractor->setParameters(extractionPrm);
201  pointCloudSegmenter->setLccpParameters(segmentationPrm);
202  pointCloudProvider->begin_startCaptureForNumFrames(1);
203 }
204 
205 armarx::PropertyDefinitionsPtr
206 PrimitiveExtractionParameterTuning::createPropertyDefinitions()
207 {
208  return armarx::PropertyDefinitionsPtr(
209  new PrimitiveExtractionParameterTuningPropertyDefinitions(getConfigIdentifier()));
210 }
211 
212 float
213 PrimitiveExtractionParameterTuning::compareLabeledPointClouds(
214  const pcl::PointCloud<pcl::PointXYZL>::Ptr& labeled,
215  const pcl::PointCloud<pcl::PointXYZRGBL>::Ptr& reference)
216 {
217  ARMARX_INFO << labeled->size() << " points in segmentation point cloud";
218  ARMARX_INFO << reference->size() << " points in ground truth point cloud";
219 
220  pcl::octree::OctreePointCloudSearch<pcl::PointXYZL> octree(50);
221  octree.setInputCloud(labeled);
222  octree.addPointsFromInputCloud();
223 
224  std::map<unsigned int, unsigned int> labelMap;
225 
226  unsigned int num_covered = 0;
227  for (auto& p : reference->points)
228  {
229  std::vector<int> indices;
230  std::vector<float> squaredDistances;
231 
232  pcl::PointXYZL q;
233  q.x = p.x;
234  q.y = p.y;
235  q.z = p.z;
236 
237  if (octree.nearestKSearch(q, 1, indices, squaredDistances) > 0 && squaredDistances[0] < 50)
238  {
239  if (labelMap.find(p.label) == labelMap.end())
240  {
241  labelMap[p.label] = labeled->points[indices[0]].label;
242  }
243  if (labelMap[p.label] == labeled->points[indices[0]].label)
244  {
245  num_covered++;
246  }
247  }
248  }
249 
250  return ((float)num_covered) / reference->size();
251 }
252 
253 void
254 PrimitiveExtractionParameterTuning::generateNewParameterSet()
255 {
256  // Randomly sample within a hyperplane around the current parameter set
257  extractionPrm.minSegmentSize =
258  sample(bestExtractionPrm.minSegmentSize, bounds_segmentation_minSegmentSize);
259  extractionPrm.maxSegmentSize =
260  sample(bestExtractionPrm.maxSegmentSize, bounds_segmentation_maxSegmentSize);
261  extractionPrm.euclideanClusteringTolerance =
262  sample(bestExtractionPrm.euclideanClusteringTolerance,
263  bounds_segmentation_euclideanClusteringTolerance);
264  extractionPrm.outlierThreshold =
265  sample(bestExtractionPrm.outlierThreshold, bounds_segmentation_outlierThreshold);
266  extractionPrm.planeMaxIterations =
267  sample(bestExtractionPrm.planeMaxIterations, bounds_segmentation_planeMaxIterations);
268  extractionPrm.planeDistanceThreshold = sample(bestExtractionPrm.planeDistanceThreshold,
269  bounds_segmentation_planeDistanceThreshold);
270  extractionPrm.planeNormalDistance =
271  sample(bestExtractionPrm.planeNormalDistance, bounds_segmentation_planeNormalDistance);
272  extractionPrm.cylinderMaxIterations =
273  sample(bestExtractionPrm.cylinderMaxIterations, bounds_segmentation_cylinderMaxIterations);
274  extractionPrm.cylinderDistanceThreshold = sample(bestExtractionPrm.cylinderDistanceThreshold,
275  bounds_segmentation_cylinderDistanceThreshold);
276  extractionPrm.cylinderRadiusLimit =
277  sample(bestExtractionPrm.cylinderRadiusLimit, bounds_segmentation_cylinderRadiusLimit);
278  extractionPrm.sphereMaxIterations =
279  sample(bestExtractionPrm.sphereMaxIterations, bounds_segmentation_sphereMaxIterations);
280  extractionPrm.sphereDistanceThreshold = sample(bestExtractionPrm.sphereDistanceThreshold,
281  bounds_segmentation_sphereDistanceThreshold);
282  extractionPrm.sphereNormalDistance =
283  sample(bestExtractionPrm.sphereNormalDistance, bounds_segmentation_sphereNormalDistance);
284  extractionPrm.circularDistanceThreshold = sample(bestExtractionPrm.circularDistanceThreshold,
285  bounds_segmentation_circularDistanceThreshold);
286 
287  segmentationPrm.minSegmentSize =
288  sample(bestSegmentationPrm.minSegmentSize, bounds_primitives_minSegmentSize);
289  segmentationPrm.voxelResolution =
290  sample(bestSegmentationPrm.voxelResolution, bounds_primitives_voxelResolution);
291  segmentationPrm.seedResolution =
292  sample(bestSegmentationPrm.seedResolution, bounds_primitives_seedResolution);
293  segmentationPrm.colorImportance =
294  sample(bestSegmentationPrm.colorImportance, bounds_primitives_colorImportance);
295  segmentationPrm.spatialImportance =
296  sample(bestSegmentationPrm.spatialImportance, bounds_primitives_spatialImportance);
297  segmentationPrm.normalImportance =
298  sample(bestSegmentationPrm.normalImportance, bounds_primitives_normalImportance);
299  segmentationPrm.concavityThreshold =
300  sample(bestSegmentationPrm.concavityThreshold, bounds_primitives_concavityThreshold);
301  segmentationPrm.smoothnessThreshold =
302  sample(bestSegmentationPrm.smoothnessThreshold, bounds_primitives_smoothnessThreshold);
303 
304  std::stringstream s;
305  s << "Randomly determined parameter set: {" << std::endl
306  << " extractionPrm.minSegmentSize: " << extractionPrm.minSegmentSize << "," << std::endl
307  << " extractionPrm.maxSegmentSize: " << extractionPrm.maxSegmentSize << "," << std::endl
308  << " extractionPrm.euclideanClusteringTolerance: "
309  << extractionPrm.euclideanClusteringTolerance << "," << std::endl
310  << " extractionPrm.outlierThreshold: " << extractionPrm.outlierThreshold << ","
311  << std::endl
312  << " extractionPrm.planeMaxIterations: " << extractionPrm.planeMaxIterations << ","
313  << std::endl
314  << " extractionPrm.planeDistanceThreshold: " << extractionPrm.planeDistanceThreshold << ","
315  << std::endl
316  << " extractionPrm.planeNormalDistance: " << extractionPrm.planeNormalDistance << ","
317  << std::endl
318  << " extractionPrm.cylinderMaxIterations: " << extractionPrm.cylinderMaxIterations << ","
319  << std::endl
320  << " extractionPrm.cylinderDistanceThreshold: " << extractionPrm.cylinderDistanceThreshold
321  << "," << std::endl
322  << " extractionPrm.cylinderRadiusLimit: " << extractionPrm.cylinderRadiusLimit << ","
323  << std::endl
324  << " extractionPrm.sphereMaxIterations: " << extractionPrm.sphereMaxIterations << ","
325  << std::endl
326  << " extractionPrm.sphereDistanceThreshold: " << extractionPrm.sphereDistanceThreshold
327  << "," << std::endl
328  << " extractionPrm.sphereNormalDistance: " << extractionPrm.sphereNormalDistance << ","
329  << std::endl
330  << " extractionPrm.circularDistanceThreshold: " << extractionPrm.circularDistanceThreshold
331  << "," << std::endl
332  << " segmentationPrm.minSegmentSize: " << segmentationPrm.minSegmentSize << ","
333  << std::endl
334  << " segmentationPrm.voxelResolution: " << segmentationPrm.voxelResolution << ","
335  << std::endl
336  << " segmentationPrm.seedResolution: " << segmentationPrm.seedResolution << ","
337  << std::endl
338  << " segmentationPrm.colorImportance: " << segmentationPrm.colorImportance << ","
339  << std::endl
340  << " segmentationPrm.spatialImportance: " << segmentationPrm.spatialImportance << ","
341  << std::endl
342  << " segmentationPrm.normalImportance: " << segmentationPrm.normalImportance << ","
343  << std::endl
344  << " segmentationPrm.concavityThreshold: " << segmentationPrm.concavityThreshold << ","
345  << std::endl
346  << " segmentationPrm.smoothnessThreshold: " << segmentationPrm.smoothnessThreshold << ","
347  << std::endl
348  << "}";
349  ARMARX_INFO << s.str();
350 }
351 
352 float
353 PrimitiveExtractionParameterTuning::sample(float current, const Eigen::Vector2f& bounds)
354 {
355  float radius_percent = 0.05;
356 
357  if (iteration % 5 == 0)
358  {
359  radius_percent = 0.3;
360  }
361 
362  // Random value in [-1, 1]
363  float r = ((float)(rand() % 2000 - 1000)) / 1000.0f;
364 
365  // Scale to admitted radius
366  current += r * (bounds(1) - bounds(0)) * radius_percent;
367 
368  // Crop to boundaries
369  current = std::max(current, bounds(0));
370  current = std::min(current, bounds(1));
371 
372  return current;
373 }
374 
375 void
376 PrimitiveExtractionParameterTuning::exportBestSetup(
377  const std::string& directory,
378  const pcl::PointCloud<pcl::PointXYZL>::Ptr& pointCloud,
379  const visionx::LccpParameters& lccp_prm,
380  const visionx::PrimitiveExtractorParameters& pe_prm)
381 {
382  std::stringstream path_pcd;
383  path_pcd << directory << "/point_cloud_" << iteration << ".pcd";
384 
385  std::stringstream path_prm;
386  path_prm << directory << "/parameters_" << iteration << ".cfg";
387 
388  ARMARX_INFO << "Exporting labeled point cloud to: " << path_pcd.str();
389  pcl::io::savePCDFile<pcl::PointXYZL>(path_pcd.str(), *pointCloud);
390 
391  ARMARX_INFO << "Exporting parameters to: " << path_prm.str();
392  std::ofstream f;
393  f.open(path_prm.str());
394 
395  f << "Randomly determined parameter set: {" << std::endl
396  << " extractionPrm.minSegmentSize: " << pe_prm.minSegmentSize << "," << std::endl
397  << " extractionPrm.maxSegmentSize: " << pe_prm.maxSegmentSize << "," << std::endl
398  << " extractionPrm.euclideanClusteringTolerance: " << pe_prm.euclideanClusteringTolerance
399  << "," << std::endl
400  << " extractionPrm.outlierThreshold: " << pe_prm.outlierThreshold << "," << std::endl
401  << " extractionPrm.planeMaxIterations: " << pe_prm.planeMaxIterations << "," << std::endl
402  << " extractionPrm.planeDistanceThreshold: " << pe_prm.planeDistanceThreshold << ","
403  << std::endl
404  << " extractionPrm.planeNormalDistance: " << pe_prm.planeNormalDistance << "," << std::endl
405  << " extractionPrm.cylinderMaxIterations: " << pe_prm.cylinderMaxIterations << ","
406  << std::endl
407  << " extractionPrm.cylinderDistanceThreshold: " << pe_prm.cylinderDistanceThreshold << ","
408  << std::endl
409  << " extractionPrm.cylinderRadiusLimit: " << pe_prm.cylinderRadiusLimit << "," << std::endl
410  << " extractionPrm.sphereMaxIterations: " << pe_prm.sphereMaxIterations << "," << std::endl
411  << " extractionPrm.sphereDistanceThreshold: " << pe_prm.sphereDistanceThreshold << ","
412  << std::endl
413  << " extractionPrm.sphereNormalDistance: " << pe_prm.sphereNormalDistance << ","
414  << std::endl
415  << " extractionPrm.circularDistanceThreshold: " << pe_prm.circularDistanceThreshold << ","
416  << std::endl
417  << " segmentationPrm.minSegmentSize: " << lccp_prm.minSegmentSize << "," << std::endl
418  << " segmentationPrm.voxelResolution: " << lccp_prm.voxelResolution << "," << std::endl
419  << " segmentationPrm.seedResolution: " << lccp_prm.seedResolution << "," << std::endl
420  << " segmentationPrm.colorImportance: " << lccp_prm.colorImportance << "," << std::endl
421  << " segmentationPrm.spatialImportance: " << lccp_prm.spatialImportance << "," << std::endl
422  << " segmentationPrm.normalImportance: " << lccp_prm.normalImportance << "," << std::endl
423  << " segmentationPrm.concavityThreshold: " << lccp_prm.concavityThreshold << ","
424  << std::endl
425  << " segmentationPrm.smoothnessThreshold: " << lccp_prm.smoothnessThreshold << ","
426  << std::endl
427  << "}" << std::endl
428  << std::endl
429  << "fitness: " << bestFitness << std::endl;
430 
431  f.close();
432 }
armarx::PrimitiveExtractionParameterTuning::primitiveExtractor
visionx::PrimitiveMapperInterfacePrx primitiveExtractor
Definition: PrimitiveExtractionParameterTuning.h:142
armarx::PrimitiveExtractionParameterTuning::bounds_primitives_voxelResolution
Eigen::Vector2f bounds_primitives_voxelResolution
Definition: PrimitiveExtractionParameterTuning.h:170
armarx::PrimitiveExtractionParameterTuning::compareLabeledPointClouds
float compareLabeledPointClouds(const pcl::PointCloud< pcl::PointXYZL >::Ptr &labeled, const pcl::PointCloud< pcl::PointXYZRGBL >::Ptr &reference)
Definition: PrimitiveExtractionParameterTuning.cpp:213
armarx::PrimitiveExtractionParameterTuning::onExitPointCloudProcessor
void onExitPointCloudProcessor() override
Definition: PrimitiveExtractionParameterTuning.cpp:160
armarx::PrimitiveExtractionParameterTuning::sourcePointCloudFilename
std::string sourcePointCloudFilename
Definition: PrimitiveExtractionParameterTuning.h:136
armarx::PrimitiveExtractionParameterTuning::bounds_primitives_concavityThreshold
Eigen::Vector2f bounds_primitives_concavityThreshold
Definition: PrimitiveExtractionParameterTuning.h:175
armarx::PrimitiveExtractionParameterTuningPropertyDefinitions
Definition: PrimitiveExtractionParameterTuning.h:41
armarx::PrimitiveExtractionParameterTuning::bestSegmentationPrm
visionx::LccpParameters bestSegmentationPrm
Definition: PrimitiveExtractionParameterTuning.h:150
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_maxSegmentSize
Eigen::Vector2f bounds_segmentation_maxSegmentSize
Definition: PrimitiveExtractionParameterTuning.h:156
armarx::PrimitiveExtractionParameterTuning::bounds_primitives_spatialImportance
Eigen::Vector2f bounds_primitives_spatialImportance
Definition: PrimitiveExtractionParameterTuning.h:173
armarx::PrimitiveExtractionParameterTuning::onInitPointCloudProcessor
void onInitPointCloudProcessor() override
Definition: PrimitiveExtractionParameterTuning.cpp:32
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_planeDistanceThreshold
Eigen::Vector2f bounds_segmentation_planeDistanceThreshold
Definition: PrimitiveExtractionParameterTuning.h:160
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_minSegmentSize
Eigen::Vector2f bounds_segmentation_minSegmentSize
Definition: PrimitiveExtractionParameterTuning.h:155
armarx::PrimitiveExtractionParameterTuning::exportBestSetup
void exportBestSetup(const std::string &directory, const pcl::PointCloud< pcl::PointXYZL >::Ptr &pointCloud, const visionx::LccpParameters &lccp_prm, const visionx::PrimitiveExtractorParameters &pe_prm)
Definition: PrimitiveExtractionParameterTuning.cpp:376
armarx::PrimitiveExtractionParameterTuning::bounds_primitives_colorImportance
Eigen::Vector2f bounds_primitives_colorImportance
Definition: PrimitiveExtractionParameterTuning.h:172
armarx::PrimitiveExtractionParameterTuning::exportDirectory
std::string exportDirectory
Definition: PrimitiveExtractionParameterTuning.h:138
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_sphereMaxIterations
Eigen::Vector2f bounds_segmentation_sphereMaxIterations
Definition: PrimitiveExtractionParameterTuning.h:165
pcl::graph::indices
pcl::PointIndices::Ptr indices(const PCG &g)
Retrieve the indices of the points of the point cloud stored in a point cloud graph that actually bel...
Definition: point_cloud_graph.h:717
armarx::PrimitiveExtractionParameterTuning::process
void process() override
Definition: PrimitiveExtractionParameterTuning.cpp:165
armarx::PrimitiveExtractionParameterTuning::bounds_primitives_normalImportance
Eigen::Vector2f bounds_primitives_normalImportance
Definition: PrimitiveExtractionParameterTuning.h:174
armarx::PrimitiveExtractionParameterTuning::referencePointCloudFilename
std::string referencePointCloudFilename
Definition: PrimitiveExtractionParameterTuning.h:137
armarx::PrimitiveExtractionParameterTuning::pointCloudSegmenter
visionx::PointCloudSegmenterInterfacePrx pointCloudSegmenter
Definition: PrimitiveExtractionParameterTuning.h:141
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_outlierThreshold
Eigen::Vector2f bounds_segmentation_outlierThreshold
Definition: PrimitiveExtractionParameterTuning.h:158
PrimitiveExtractionParameterTuning.h
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_euclideanClusteringTolerance
Eigen::Vector2f bounds_segmentation_euclideanClusteringTolerance
Definition: PrimitiveExtractionParameterTuning.h:157
visionx::PointCloudProcessor::waitForPointClouds
bool waitForPointClouds(int milliseconds=1000)
Wait for new PointClouds.
Definition: PointCloudProcessor.cpp:458
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_sphereNormalDistance
Eigen::Vector2f bounds_segmentation_sphereNormalDistance
Definition: PrimitiveExtractionParameterTuning.h:167
max
T max(T t1, T t2)
Definition: gdiam.h:51
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_cylinderRadiusLimit
Eigen::Vector2f bounds_segmentation_cylinderRadiusLimit
Definition: PrimitiveExtractionParameterTuning.h:164
ARMARX_ERROR
#define ARMARX_ERROR
Definition: Logging.h:196
armarx::PrimitiveExtractionParameterTuning::bounds_primitives_seedResolution
Eigen::Vector2f bounds_primitives_seedResolution
Definition: PrimitiveExtractionParameterTuning.h:171
visionx::PointCloudProcessor::getPointClouds
int getPointClouds(const PointCloudPtrT &pointCloudPtr)
Poll PointClouds from provider.
Definition: PointCloudProcessor.h:380
q
#define q
armarx::PrimitiveExtractionParameterTuning::bounds_primitives_minSegmentSize
Eigen::Vector2f bounds_primitives_minSegmentSize
Definition: PrimitiveExtractionParameterTuning.h:169
armarx::PrimitiveExtractionParameterTuning::pointCloudProvider
visionx::FakePointCloudProviderInterfacePrx pointCloudProvider
Definition: PrimitiveExtractionParameterTuning.h:140
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_cylinderDistanceThreshold
Eigen::Vector2f bounds_segmentation_cylinderDistanceThreshold
Definition: PrimitiveExtractionParameterTuning.h:163
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_sphereDistanceThreshold
Eigen::Vector2f bounds_segmentation_sphereDistanceThreshold
Definition: PrimitiveExtractionParameterTuning.h:166
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_planeNormalDistance
Eigen::Vector2f bounds_segmentation_planeNormalDistance
Definition: PrimitiveExtractionParameterTuning.h:161
armarx::Component::getConfigIdentifier
std::string getConfigIdentifier()
Retrieve config identifier for this component as set in constructor.
Definition: Component.cpp:79
armarx::PrimitiveExtractionParameterTuning::referencePointCloud
pcl::PointCloud< pcl::PointXYZRGBL >::Ptr referencePointCloud
Definition: PrimitiveExtractionParameterTuning.h:144
armarx::PrimitiveExtractionParameterTuning::bounds_primitives_smoothnessThreshold
Eigen::Vector2f bounds_primitives_smoothnessThreshold
Definition: PrimitiveExtractionParameterTuning.h:176
armarx::PrimitiveExtractionParameterTuning::generateNewParameterSet
void generateNewParameterSet()
Definition: PrimitiveExtractionParameterTuning.cpp:254
float
#define float
Definition: 16_Level.h:22
ARMARX_INFO
#define ARMARX_INFO
Definition: Logging.h:181
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_planeMaxIterations
Eigen::Vector2f bounds_segmentation_planeMaxIterations
Definition: PrimitiveExtractionParameterTuning.h:159
armarx::PrimitiveExtractionParameterTuning::iteration
unsigned int iteration
Definition: PrimitiveExtractionParameterTuning.h:153
IceUtil::Handle< class PropertyDefinitionContainer >
armarx::PrimitiveExtractionParameterTuning::onDisconnectPointCloudProcessor
void onDisconnectPointCloudProcessor() override
Definition: PrimitiveExtractionParameterTuning.cpp:155
visionx::PointCloudProcessor::usingPointCloudProvider
void usingPointCloudProvider(std::string providerName)
Registers a delayed topic subscription and a delayed provider proxy retrieval which will be available...
Definition: PointCloudProcessor.cpp:279
armarx::PrimitiveExtractionParameterTuning::sample
float sample(float current, const Eigen::Vector2f &bounds)
Definition: PrimitiveExtractionParameterTuning.cpp:353
armarx::PrimitiveExtractionParameterTuning::createPropertyDefinitions
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override
Definition: PrimitiveExtractionParameterTuning.cpp:206
armarx::PrimitiveExtractionParameterTuning::primitivesProviderName
std::string primitivesProviderName
Definition: PrimitiveExtractionParameterTuning.h:135
armarx::PrimitiveExtractionParameterTuning::bestFitness
float bestFitness
Definition: PrimitiveExtractionParameterTuning.h:151
armarx::ArmarXDataPath::getAbsolutePath
static bool getAbsolutePath(const std::string &relativeFilename, std::string &storeAbsoluteFilename, const std::vector< std::string > &additionalSearchPaths={}, bool verbose=true)
Definition: ArmarXDataPath.cpp:109
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_circularDistanceThreshold
Eigen::Vector2f bounds_segmentation_circularDistanceThreshold
Definition: PrimitiveExtractionParameterTuning.h:168
min
T min(T t1, T t2)
Definition: gdiam.h:44
ARMARX_WARNING
#define ARMARX_WARNING
Definition: Logging.h:193
armarx::PropertyDefinitionsPtr
IceUtil::Handle< class PropertyDefinitionContainer > PropertyDefinitionsPtr
PropertyDefinitions smart pointer type.
Definition: forward_declarations.h:35
ArmarXDataPath.h
armarx::PrimitiveExtractionParameterTuning::onConnectPointCloudProcessor
void onConnectPointCloudProcessor() override
Definition: PrimitiveExtractionParameterTuning.cpp:119
armarx::PrimitiveExtractionParameterTuning::extractionPrm
visionx::PrimitiveExtractorParameters extractionPrm
Definition: PrimitiveExtractionParameterTuning.h:146
armarx::PrimitiveExtractionParameterTuning::segmentationPrm
visionx::LccpParameters segmentationPrm
Definition: PrimitiveExtractionParameterTuning.h:147
armarx::ManagedIceObject::usingProxy
bool usingProxy(const std::string &name, const std::string &endpoints="")
Registers a proxy for retrieval after initialization and adds it to the dependency list.
Definition: ManagedIceObject.cpp:154
armarx::ctrlutil::s
double s(double t, double s0, double v0, double a0, double j)
Definition: CtrlUtil.h:33
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:27
armarx::PrimitiveExtractionParameterTuning::bestExtractionPrm
visionx::PrimitiveExtractorParameters bestExtractionPrm
Definition: PrimitiveExtractionParameterTuning.h:149
armarx::PrimitiveExtractionParameterTuning::bounds_segmentation_cylinderMaxIterations
Eigen::Vector2f bounds_segmentation_cylinderMaxIterations
Definition: PrimitiveExtractionParameterTuning.h:162