The ced_detector's discuss from ucr-robotics

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

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.

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

ucr-robotics / ced_detector Goto Github PK

ced_detector's Issues

Visual code in open3d：view_keypoint.py

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

PCL related compilation errors

dateutil.parser issue

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