compute_concave_hull.cpp
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00001 #include <pcl/point_types.h>
00002 #include <pcl/io/pcd_io.h>
00003 #include <pcl/filters/passthrough.h>
00004 #include <pcl/surface/concave_hull.h>
00005 #include <pcl/console/parse.h>
00006 
00007 using namespace pcl::console;
00008 typedef pcl::PointXYZ PointT;
00009 
00010 int main( int argc, char** argv )
00011 {
00012   // Parameter parsing
00013   if( argc != 3 )
00014   {
00015     std::cerr << "Syntax is: " << argv[0] << " {input_pointcloud_filename.pcd} {output_pointcloud_filename.pcd}" << std::endl;
00016     return(-1);
00017   }
00018 
00019   // Read input cloud
00020   pcl::PointCloud<PointT>::Ptr input_cloud (new pcl::PointCloud<PointT>);
00021   pcl::PCDReader reader;
00022   pcl::PCDWriter writer;
00023   reader.read ( argv[1], *input_cloud);
00024   std::cerr << "Loaded cloud with points: " << input_cloud->points.size() << std::endl;
00025 
00026 
00027   pcl::PointCloud<PointT>::Ptr filtered_cloud (new pcl::PointCloud<PointT>);
00028   pcl::PassThrough<PointT> filter;
00029   filter.setInputCloud (input_cloud);
00030   filter.setFilterFieldName ("z");
00031   filter.setFilterLimits (-0.5, 0.5);
00032   // filter.setKeepOrganized (true);
00033   // filter.setUserFilterValue (1000.0);
00034   filter.filter (*filtered_cloud);
00035   
00036   pcl::PointCloud<PointT> alpha_shape;
00037   pcl::PointCloud<PointT>::Ptr voronoi_centers (new pcl::PointCloud<PointT>);
00038   std::vector<pcl::Vertices> polygons_alpha;
00039 
00040   pcl::ConcaveHull<PointT> concave_hull;
00041   concave_hull.setInputCloud (filtered_cloud);
00042   concave_hull.setAlpha (1.0);
00043   concave_hull.setVoronoiCenters (voronoi_centers);
00044   concave_hull.reconstruct (alpha_shape, polygons_alpha);
00045 
00046   //write back filtered cloud
00047   std::cerr << "Saving cloud to: " << std::string(argv[2]) << " with points: " << alpha_shape.points.size() << std::endl;
00048   writer.write(std::string(argv[2]), alpha_shape, false);
00049   return(0);
00050 }
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pcl_cloud_tools
Author(s): Nico Blodow, Zoltan-Csaba Marton, Dejan Pangercic
autogenerated on Thu May 23 2013 17:11:35