PCL Hypothesis Verification 识别目标过滤 去除假阳性

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#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/correspondence.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/features/shot_omp.h>
#include <pcl/features/board.h>
#include <pcl/filters/uniform_sampling.h>
#include <pcl/recognition/cg/hough_3d.h>
#include <pcl/recognition/cg/geometric_consistency.h>
#include <pcl/recognition/hv/hv_go.h>
#include <pcl/registration/icp.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/kdtree/impl/kdtree_flann.hpp>
#include <pcl/common/transforms.h> 
#include <pcl/console/parse.h>

typedef pcl::PointXYZRGBA PointType;
typedef pcl::Normal NormalType;
typedef pcl::ReferenceFrame RFType;
typedef pcl::SHOT352 DescriptorType;

struct CloudStyle
{
   
   
    double r;
    double g;
    double b;
    double size;

    CloudStyle(double r,
        double g,
        double b,
        double size) :
        r(r),
        g(g),
        b(b),
        size(size)
    {
   
   
    }
};

CloudStyle style_white(255.0, 255.0, 255.0, 4.0);
CloudStyle style_red(255.0, 0.0, 0.0, 3.0);
CloudStyle style_green(0.0, 255.0, 0.0, 5.0);
CloudStyle style_cyan(93.0, 200.0, 217.0, 4.0);
CloudStyle style_violet(255.0, 0.0, 255.0, 8.0);

std::string model_filename_;
std::string scene_filename_;

//Algorithm params 
bool show_keypoints_(false);
bool use_hough_(true);
float model_ss_(0.02f);
float scene_ss_(0.02f);
float rf_rad_(0.015f);
float descr_rad_(0.02f);
float cg_size_(0.01f);
float cg_thresh_(5.0f);
int icp_max_iter_(5);
float icp_corr_distance_(0.005f);
float hv_resolution_(0.005f);
float hv_occupancy_grid_resolution_(0.01f);
float hv_clutter_reg_(5.0f);
float hv_inlier_th_(0.005f);
float hv_occlusion_th_(0.01f);
float hv_rad_clutter_(0.03f);
float hv_regularizer_(3.0f);
float hv_rad_normals_(0.05);
bool hv_detect_clutter_(true);

/**
 * Prints out Help message
 * @param filename Runnable App Name
 */
void
showHelp(char* filename)
{
   
   
    std::cout << std::endl;
    std::cout << "***************************************************************************" << std::endl;
    std::cout << "*                                                                         *" << std::endl;
    std::cout << "*          Global Hypothese Verification Tutorial - Usage Guide          *" << std::endl;
    std::cout << "*                                                                         *" << std::endl;
    std::cout << "***************************************************************************" << std::endl << std::endl;
    std::cout << "Usage: " << filename << " model_filename.pcd scene_filename.pcd [Options]" << std::endl << std::endl;
    std::cout << "Options:" << std::endl;
    std::cout << "     -h:                          Show this help." << std::endl;
    std::cout << "     -k:                          Show keypoints." << std::endl;
    std::cout << "     --algorithm (Hough|GC):      Clustering algorithm used (default Hough)." << std::endl;
    std::cout << "     --model_ss val:              Model uniform sampling radius (default " << model_ss_ << ")" << std::endl;
    std::cout << "     --scene_ss val:              Scene uniform sampling radius (default " << scene_ss_ << ")" << std::endl;
    std::cout << "     --rf_rad val:                Reference frame radius (default " << rf_rad_ << ")" << std::endl;
    std::cout << "     --descr_rad val:             Descriptor radius (default " << descr_rad_ << ")" << std::endl;
    std::cout << "     --cg_size val:               Cluster size (default " << cg_size_ << ")" << std::endl;
    std::cout << "     --cg_thresh val:             Clustering threshold (default " << cg_thresh_ << ")" << std::endl << std::endl;
    std::cout << "     --icp_max_iter val:          ICP max iterations number (default " << icp_max_iter_ << ")" << std::endl;
    std::cout << "     --icp_corr_distance val:     ICP correspondence distance (default " << icp_corr_distance_ << ")" << std::endl << std::endl;
    std::cout << "     --hv_clutter_reg val:        Clutter Regularizer (default " << hv_clutter_reg_