ucr-robotics / ced_detector

WACV 2023: Centroid Distance Keypoint Detector for Colored Point Clouds

UCR-Robotics

UCR Robotics Documentation

ced_detector's Issues

Visual code in open3d：view_keypoint.py

Hello，Why do you need to enter keypoints in the view_keypoint code for visualization?
Isn't keypoints automatically obtained?
I can't run this view_keypoint code normally

PCL related compilation errors

Hi @hanzheteng ,

I am trying to compile the CED_Detector lib but I am getting the following errors, do you have any idea how I can resolve them.

[ 50%] Building CXX object CMakeFiles/test_keypoint.dir/src/test_keypoint.cpp.o
In file included from /usr/include/pcl-1.13/pcl/common/impl/centroid.hpp:45,
                 from /usr/include/pcl-1.13/pcl/common/centroid.h:1099,
                 from /usr/include/pcl-1.13/pcl/common/transforms.h:43,
                 from /home/Development/CED_Detector/include/perception.h:13,
                 from /home/Development/CED_Detector/src/test_keypoint.cpp:1:
/usr/include/pcl-1.13/pcl/common/point_tests.h: In instantiation of ‘bool pcl::isFinite(const PointT&) [with PointT = float]’:
/home/Development/CED_Detector/include/remove_nan.h:41:24:   required from ‘void pcl::removeNaNFromPointCloudBruteForce(const PointCloud<PointT>&, PointCloud<PointT>&, std::vector<int, std::allocator<int> >&) [with PointT = PointXYZRGBNormal]’
/home/Development/CED_Detector/include/impl/perception.hpp:21:42:   required from ‘void my::Perception<FeatureT>::removeNaNPoints(const PointCloudPtr&) [with FeatureT = pcl::PFHRGBSignature250; PointCloudPtr = std::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBNormal> >]’
/home/Development/CED_Detector/src/test_keypoint.cpp:34:30:   required from here
/usr/include/pcl-1.13/pcl/common/point_tests.h:57:31: error: request for member ‘x’ in ‘pt’, which is of non-class type ‘const float’
   57 |     return (std::isfinite (pt.x) && std::isfinite (pt.y) && std::isfinite (pt.z));
      |                            ~~~^
/usr/include/pcl-1.13/pcl/common/point_tests.h:57:55: error: request for member ‘y’ in ‘pt’, which is of non-class type ‘const float’
   57 |     return (std::isfinite (pt.x) && std::isfinite (pt.y) && std::isfinite (pt.z));
      |                                                    ~~~^
/usr/include/pcl-1.13/pcl/common/point_tests.h:57:79: error: request for member ‘z’ in ‘pt’, which is of non-class type ‘const float’
   57 |     return (std::isfinite (pt.x) && std::isfinite (pt.y) && std::isfinite (pt.z));
      |                                                                            ~~~^
In file included from /usr/include/pcl-1.13/pcl/keypoints/harris_6d.h:140,
                 from /home/Development/CED_Detector/include/perception.h:20:
/usr/include/pcl-1.13/pcl/keypoints/impl/harris_6d.hpp: In member function ‘void pcl::HarrisKeypoint6D<PointInT, PointOutT, NormalT>::detectKeypoints(PointCloudOut&) [with PointInT = pcl::PointXYZRGBNormal; PointOutT = pcl::PointXYZI; NormalT = pcl::Normal]’:
/usr/include/pcl-1.13/pcl/keypoints/impl/harris_6d.hpp:171:12: error: ‘cloud’ not specified in enclosing ‘parallel’
  171 |     cloud->points [idx].x = surface_->points [idx].x;
      |     ~~~~~~~^~~~~~
/usr/include/pcl-1.13/pcl/keypoints/impl/harris_6d.hpp:166:9: note: enclosing ‘parallel’
  166 | #pragma omp parallel for \
      |         ^~~
/usr/include/pcl-1.13/pcl/keypoints/impl/harris_6d.hpp:232:52: error: ‘response’ not specified in enclosing ‘parallel’
  232 |     for (std::size_t idx = 0; idx < response->size (); ++idx)
      |                                     ~~~~~~~~~~~~~~~^~
/usr/include/pcl-1.13/pcl/keypoints/impl/harris_6d.hpp:229:9: note: enclosing ‘parallel’
  229 | #pragma omp parallel for \
      |         ^~~
/usr/include/pcl-1.13/pcl/keypoints/impl/harris_6d.hpp:252:26: error: ‘output’ not specified in enclosing ‘parallel’
  252 |         output.push_back ((*response)[idx]);
      |         ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.13/pcl/keypoints/impl/harris_6d.hpp:229:9: note: enclosing ‘parallel’
  229 | #pragma omp parallel for \
      |         ^~~
/usr/include/pcl-1.13/pcl/keypoints/impl/harris_6d.hpp: In member function ‘void pcl::HarrisKeypoint6D<PointInT, PointOutT, NormalT>::responseTomasi(PointCloudOut&) const [with PointInT = pcl::PointXYZRGBNormal; PointOutT = pcl::PointXYZI; NormalT = pcl::Normal]’:
/usr/include/pcl-1.13/pcl/keypoints/impl/harris_6d.hpp:350:21: error: ‘output’ not specified in enclosing ‘parallel’
  350 |     output.push_back(pointOut);
      |     ~~~~~~~~~~~~~~~~^~~~~~~~~~
/usr/include/pcl-1.13/pcl/keypoints/impl/harris_6d.hpp:275:9: note: enclosing ‘parallel’
  275 | #pragma omp parallel for \
      |         ^~~
make[2]: *** [CMakeFiles/test_keypoint.dir/build.make:76: CMakeFiles/test_keypoint.dir/src/test_keypoint.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:83: CMakeFiles/test_keypoint.dir/all] Error 2
make: *** [Makefile:91: all] Error 2

I tried to donwgrade the pcl version but didn't work. Then if I downgrade to 1.9.1 or something I am having other compilation problems with the related needed libs e.g. boost or vtk.

dateutil.parser issue

follow the instruction guide and run the step of 4.1， got dateutil.parser error

Using CED detector for 3D-to-2D mapping correspondences

Hi @hanzheteng,

Thanks for sharing your work, I have a question though. Is it possible to use CED to extract and map keypoints correspondences both in a 3D point cloud and a corresponding 2D image. So in principle I would be interested to apply a 3D-2D mapping.

Thanks.