glupschi08/dbscan-pcl-optimized

DBScan algorithm using Octrees to cluster 3D points in a space with PCL Library

DBScan-PCL-Optimized

This project is taken from: Navarro-Hinojosa, Octavio, y Moisés Alencastre-Miranda. "DBSCAN modificado con Octrees para agrupar nubes de puntos en tiempo real." Research in Computing Science, Vol. 114: Advances in Image Processing and Computer Vision, pp. 173–186, 2016. Github: https://github.com/Hagen23/DBScan_Octrees

It was modified with:

• It was added a CMakeList.txt for cmake compilation with PCL 1.9.0 (support 1.9.1)
• It was added an argument param option
• It was added a pcl visualizer
• It was deleted the Glut visualizer
• It was added a cluster saving method
• It was added a cluster coloring method
• It was replaced the input file from CSV to PCD
• It was added a cluster coloring method for original color of the point cloud

Input file structure support

• .pcd
• .ply
• .txt
• .xyz

Output file structure (default = .pcd)

• cloud_cluster_#.txt:

    x y z r g b
  

Example

---

Compilation

• Set "YOUR OWN" PCL Build DIR in CMakeList.txt e.g: /opt/pcl-1.8.1/build and save it.
• Create a "build" folder

in the main folder:

- cd build/  
- cmake ../
- make

Test

cd build/bin
./dbscan <input file>       <-- This will run a fast testing with default parameters
./dbscan <input file> <octree resolution> <eps> <min Aux Pts> <min Pts> <output dir> <output extension (optional)>

input file = path to input point_cloud (.pcd .txt .ply .xyz)
octree resolution = 124
eps = 40
min Pts = 4
max Pts = 5
output dir = path to output clusters
output extension (optional) = pcd, ply, txt or xyz

Example:
./dbscan /home/xXx/Downloads/point_cloud.pcd 124 40 5 5 /home/xXx/Downloads/clusters ply     

¡You can modify the parameters to obtain better results!
I recommend modifying only the eps value, with 40 - 60 you can get better clusters.

Note

If you do not want to see the output clusters on PCL Viewer, set:

bool showClusters = False; //Main function

Troubleshoot PCL-1.9.1

if compiling the project with PCL-1.9.1 this occurs:

    -- Build files have been written to: /home/t00215031/Downloads/DBScan-PCL-Optimized-master/build
    [ 20%] Building CXX object CMakeFiles/dbscan.dir/main.cpp.o
    In file included from /opt/pcl-1.9.1/common/include/pcl/pcl_macros.h:75:0,
                     from /opt/pcl-1.9.1/octree/include/pcl/octree/octree_nodes.h:47,
                     .
                     .
                     .

    /opt/pcl-1.9.1/build/include/pcl/pcl_config.h:7:4: error: #error PCL requires C++14 or above
       #error PCL requires C++14 or above
        ^
    CMakeFiles/dbscan.dir/build.make:62: recipe for target 'CMakeFiles/dbscan.dir/main.cpp.o' failed
    make[2]: *** [CMakeFiles/dbscan.dir/main.cpp.o] Error 1
    CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/dbscan.dir/all' failed
    make[1]: *** [CMakeFiles/dbscan.dir/all] Error 2
    Makefile:83: recipe for target 'all' failed
    make: *** [all] Error 2
    
    ## Solution
    1. Update gcc and g++ to version 6:
       $    sudo add-apt-repository -y ppa:ubuntu-toolchain-r/test
       $    sudo apt-get update -y
       $    sudo apt-get install -y gcc-6 g++-6 clang-3.8
       $    sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-6 70 --slave /usr/bin/g++ g++ /usr/bin/g++-6
       
       --> check gcc and g++ version:
       $    gcc --version
       $    g++ --version
       
            g++ (Ubuntu 6.5.0-2ubuntu1~16.04) 6.5.0 20181026
            Copyright (C) 2017 Free Software Foundation, Inc.
            This is free software; see the source for copying conditions.  There is NO
            warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
            
     2. Compile again 
        $    cmake../ && make

if:

    ../../../bin/librtabmap_core.so.0.11.11: undefined reference to `pcl::search::Search<pcl::PointXYZRGBNormal>::getName[abi:cxx11]() const'
    ../../../bin/librtabmap_core.so.0.11.11: undefined reference to `pcl::search::Search<pcl::PointXYZRGB>::getName[abi:cxx11]() const'
    ../../../bin/librtabmap_core.so.0.11.11: undefined reference to `pcl::search::Search<pcl::PointXYZ>::getName[abi:cxx11]() const'
    collect2: error: ld returned 1 exit status
    
    Solution:

            #include <pcl/search/impl/search.hpp>

            #ifndef PCL_NO_PRECOMPILE
            #include <pcl/impl/instantiate.hpp>
            #include <pcl/point_types.h>
            PCL_INSTANTIATE(Search, PCL_POINT_TYPES)
            #endif // PCL_NO_PRECOMPILE