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bilateral_upsampling.cpp
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169 lines (140 loc) · 5.7 KB
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2012, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*
*/
#include <pcl/PCLPointCloud2.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <pcl/surface/bilateral_upsampling.h>
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
int default_window_size = 15;
double default_sigma_color = 15;
double default_sigma_depth = 1.5;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
print_info (" where options are:\n");
print_info (" -window_size X = (default: ");
print_value ("%d", default_window_size); print_info (")\n");
print_info (" -sigma_color X = (default: ");
print_value ("%f", default_sigma_color); print_info (")\n");
print_info (" -sigma_depth X = (default: ");
print_value ("%d", default_sigma_depth); print_info (")\n");
}
bool
loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud)
{
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
tt.tic ();
if (loadPCDFile (filename, cloud) < 0)
return (false);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
return (true);
}
void
compute (const pcl::PCLPointCloud2::ConstPtr &input, pcl::PCLPointCloud2 &output,
int window_size, double sigma_color, double sigma_depth)
{
PointCloud<PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<PointXYZRGBA> ());
fromPCLPointCloud2 (*input, *cloud);
PointCloud<PointXYZRGBA>::Ptr cloud_upsampled (new PointCloud<PointXYZRGBA> ());
BilateralUpsampling<PointXYZRGBA, PointXYZRGBA> bu;
bu.setInputCloud (cloud);
bu.setWindowSize (window_size);
bu.setSigmaColor (sigma_color);
bu.setSigmaDepth (sigma_depth);
// TODO need to fix this somehow
bu.setProjectionMatrix (bu.KinectSXGAProjectionMatrix);
TicToc tt;
tt.tic ();
bu.process (*cloud_upsampled);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud_upsampled->width * cloud_upsampled->height); print_info (" points]\n");
toPCLPointCloud2 (*cloud_upsampled, output);
}
void
saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &output)
{
TicToc tt;
tt.tic ();
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
pcl::io::savePCDFile (filename, output, Eigen::Vector4f::Zero (),
Eigen::Quaternionf::Identity (), true);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}
/* ---[ */
int
main (int argc, char** argv)
{
print_info ("Bilateral Filter Upsampling of an organized point cloud containing color information. For more information, use: %s -h\n", argv[0]);
if (argc < 3)
{
printHelp (argc, argv);
return (-1);
}
// Parse the command line arguments for .pcd files
std::vector<int> p_file_indices;
p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
if (p_file_indices.size () != 2)
{
print_error ("Need one input PCD file and one output PCD file to continue.\n");
return (-1);
}
// Command line parsing
int window_size = default_window_size;
double sigma_color = default_sigma_color;
double sigma_depth = default_sigma_depth;
parse_argument (argc, argv, "-window_size", window_size);
parse_argument (argc, argv, "-sigma_color", sigma_color);
parse_argument (argc, argv, "-sigma_depth", sigma_depth);
// Load the first file
pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2);
if (!loadCloud (argv[p_file_indices[0]], *cloud))
return (-1);
// Do the smoothing
pcl::PCLPointCloud2 output;
compute (cloud, output, window_size, sigma_color, sigma_depth);
// Save into the second file
saveCloud (argv[p_file_indices[1]], output);
}