transform_from_viewpoint.cpp
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00001 /*
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00036  * $Id: transform_from_viewpoint.cpp 4962 2012-03-08 00:19:55Z rusu $
00037  *
00038  */
00039 
00040 #include <sensor_msgs/PointCloud2.h>
00041 #include <pcl/io/pcd_io.h>
00042 #include <pcl/features/fpfh.h>
00043 #include <pcl/console/print.h>
00044 #include <pcl/console/parse.h>
00045 #include <pcl/console/time.h>
00046 #include <pcl/common/transforms.h>
00047 
00048 using namespace pcl;
00049 using namespace pcl::io;
00050 using namespace pcl::console;
00051 
00052 Eigen::Vector4f    translation;
00053 Eigen::Quaternionf orientation;
00054 
00055 void
00056 printHelp (int, char **argv)
00057 {
00058   print_error ("Syntax is: %s input.pcd output.pcd\n", argv[0]);
00059 }
00060 
00061 bool
00062 loadCloud (const std::string &filename, sensor_msgs::PointCloud2 &cloud)
00063 {
00064   TicToc tt;
00065   print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
00066 
00067   tt.tic ();
00068   if (loadPCDFile (filename, cloud, translation, orientation) < 0)
00069     return (false);
00070   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
00071   print_info ("Available dimensions: "); print_value ("%s\n", getFieldsList (cloud).c_str ());
00072 
00073   return (true);
00074 }
00075 
00076 void
00077 transform (const sensor_msgs::PointCloud2::ConstPtr &input, sensor_msgs::PointCloud2 &output)
00078 {
00079   // Check for 'normals'
00080   bool has_normals = false;
00081   for (size_t i = 0; i < input->fields.size (); ++i)
00082     if (input->fields[i].name == "normals")
00083       has_normals = true;
00084 
00085   // Estimate
00086   TicToc tt;
00087   tt.tic ();
00088   print_highlight (stderr, "Transforming ");
00089 
00090   // Convert data to PointCloud<T>
00091   if (has_normals)
00092   {
00093     PointCloud<PointNormal> xyznormals;
00094     fromROSMsg (*input, xyznormals);
00095     pcl::transformPointCloud<PointNormal> (xyznormals, xyznormals, translation.head<3> (), orientation);
00096     // Copy back the xyz and normals
00097     sensor_msgs::PointCloud2 output_xyznormals;
00098     toROSMsg (xyznormals, output_xyznormals);
00099     concatenateFields (*input, output_xyznormals, output);
00100   }
00101   else
00102   {
00103     PointCloud<PointXYZ> xyz;
00104     fromROSMsg (*input, xyz);
00105     pcl::transformPointCloud<PointXYZ> (xyz, xyz, translation.head<3> (), orientation);
00106     // Copy back the xyz and normals
00107     sensor_msgs::PointCloud2 output_xyz;
00108     toROSMsg (xyz, output_xyz);
00109     concatenateFields (*input, output_xyz, output);
00110   }
00111 
00112   translation = Eigen::Vector4f::Zero ();
00113   orientation = Eigen::Quaternionf::Identity ();
00114 
00115   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
00116 }
00117 
00118 void
00119 saveCloud (const std::string &filename, const sensor_msgs::PointCloud2 &output)
00120 {
00121   TicToc tt;
00122   tt.tic ();
00123 
00124   print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
00125   
00126   PCDWriter writer;
00127   writer.writeBinaryCompressed (filename, output, translation, orientation);
00128   
00129   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
00130 }
00131 
00132 /* ---[ */
00133 int
00134 main (int argc, char** argv)
00135 {
00136   print_info ("Take the input point cloud and transform it according to its stored VIEWPOINT information. For more information, use %s -h\n", argv[0]);
00137   bool help = false;
00138   parse_argument (argc, argv, "-h", help);
00139   if (argc < 3 || help)
00140   {
00141     printHelp (argc, argv);
00142     return (-1);
00143   }
00144 
00145   // Parse the command line arguments for .pcd files
00146   std::vector<int> p_file_indices;
00147   p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
00148   if (p_file_indices.size () != 2)
00149   {
00150     print_error ("Need one input PCD file and one output PCD file to continue.\n");
00151     return (-1);
00152   }
00153 
00154   // Load the first file
00155   sensor_msgs::PointCloud2::Ptr cloud (new sensor_msgs::PointCloud2);
00156   if (!loadCloud (argv[p_file_indices[0]], *cloud)) 
00157     return (-1);
00158 
00159   // Perform the feature estimation
00160   sensor_msgs::PointCloud2 output;
00161   transform (cloud, output);
00162 
00163   // Save into the second file
00164   saveCloud (argv[p_file_indices[1]], output);
00165 }
00166 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:18:50