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vfh_estimation.cpp
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143 lines (122 loc) · 4.59 KB
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, 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/io/pcd_io.h>
#include <pcl/features/vfh.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input.pcd output.pcd\n", argv[0]);
}
bool
loadCloud (const std::string &filename, PointCloud<PointNormal> &cloud)
{
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
tt.tic ();
if (loadPCDFile<PointNormal> (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", getFieldsList (cloud).c_str ());
// Check if the dataset has normals
std::vector<pcl::PCLPointField> fields;
if (getFieldIndex<PointNormal> ("normal_x", fields) == -1)
{
print_error ("The input dataset does not contain normal information!\n");
return (false);
}
return (true);
}
void
compute (const PointCloud<PointNormal>::Ptr &input, PointCloud<VFHSignature308> &output)
{
// Estimate
TicToc tt;
tt.tic ();
print_highlight (stderr, "Computing ");
VFHEstimation<PointNormal, PointNormal, VFHSignature308> ne;
ne.setInputCloud (input);
ne.setInputNormals (input);
ne.compute (output);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}
void
saveCloud (const std::string &filename, const PointCloud<VFHSignature308> &output)
{
TicToc tt;
tt.tic ();
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
io::savePCDFile (filename, output, false);
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 ("Estimate VFH (308) descriptors using pcl::VFHEstimation. For more information, use: %s -h\n", argv[0]);
bool help = false;
parse_argument (argc, argv, "-h", help);
if (argc < 3 || help)
{
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);
}
// Load the first file
PointCloud<PointNormal>::Ptr cloud (new PointCloud<PointNormal>);
if (!loadCloud (argv[p_file_indices[0]], *cloud))
return (-1);
// Perform the feature estimation
PointCloud<VFHSignature308> output;
compute (cloud, output);
// Save into the second file
saveCloud (argv[p_file_indices[1]], output);
}