boundary_estimation.cpp
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00001 /*
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00039 
00040 #include <pcl/PCLPointCloud2.h>
00041 #include <pcl/io/pcd_io.h>
00042 #include <pcl/features/boundary.h>
00043 #include <pcl/console/print.h>
00044 #include <pcl/console/parse.h>
00045 #include <pcl/console/time.h>
00046 
00047 using namespace pcl;
00048 using namespace pcl::io;
00049 using namespace pcl::console;
00050 
00051 int    default_k = 0;
00052 double default_radius = 0.0;
00053 double default_angle  = M_PI/2.0;
00054 
00055 Eigen::Vector4f    translation;
00056 Eigen::Quaternionf orientation;
00057 
00058 void
00059 printHelp (int, char **argv)
00060 {
00061   print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
00062   print_info ("  where options are:\n");
00063   print_info ("                     -radius X = use a radius of Xm around each point to determine the neighborhood (default: "); 
00064   print_value ("%f", default_radius); print_info (")\n");
00065   print_info ("                     -k X      = use a fixed number of X-nearest neighbors around each point (default: "); 
00066   print_value ("%d", default_k); print_info (")\n");
00067   print_info ("                     -thresh X = the decision boundary (angle threshold) that marks points as boundary or regular (default: "); 
00068   print_value ("%f", default_angle); print_info (")\n");
00069 }
00070 
00071 bool
00072 loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud)
00073 {
00074   TicToc tt;
00075   print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
00076 
00077   tt.tic ();
00078   if (loadPCDFile (filename, cloud, translation, orientation) < 0)
00079     return (false);
00080   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
00081   print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
00082 
00083   // Check if the dataset has normals
00084   if (pcl::getFieldIndex (cloud, "normal_x") == -1)
00085   {
00086     print_error ("The input dataset does not contain normal information!\n");
00087     return (false);
00088   }
00089   return (true);
00090 }
00091 
00092 void
00093 compute (const pcl::PCLPointCloud2::ConstPtr &input, pcl::PCLPointCloud2 &output,
00094          int k, double radius, double angle)
00095 {
00096   // Convert data to PointCloud<T>
00097   PointCloud<PointNormal>::Ptr xyznormals (new PointCloud<PointNormal>);
00098   fromPCLPointCloud2 (*input, *xyznormals);
00099 
00100   // Estimate
00101   TicToc tt;
00102   tt.tic ();
00103   
00104   print_highlight (stderr, "Computing ");
00105 
00106   BoundaryEstimation<pcl::PointNormal, pcl::PointNormal, pcl::Boundary> ne;
00107   ne.setInputCloud (xyznormals);
00108   ne.setInputNormals (xyznormals);
00109   //ne.setSearchMethod (pcl::KdTreeFLANN<pcl::PointNormal>::Ptr (new pcl::KdTreeFLANN<pcl::PointNormal>));
00110   ne.setKSearch (k);
00111   ne.setAngleThreshold (static_cast<float> (angle));
00112   ne.setRadiusSearch (radius);
00113   
00114   PointCloud<Boundary> boundaries;
00115   ne.compute (boundaries);
00116 
00117   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", boundaries.width * boundaries.height); print_info (" points]\n");
00118 
00119   // Convert data back
00120   pcl::PCLPointCloud2 output_boundaries;
00121   toPCLPointCloud2 (boundaries, output_boundaries);
00122   concatenateFields (*input, output_boundaries, output);
00123 }
00124 
00125 void
00126 saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &output)
00127 {
00128   TicToc tt;
00129   tt.tic ();
00130 
00131   print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
00132   
00133   pcl::io::savePCDFile (filename, output, translation, orientation, false);
00134   
00135   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
00136 }
00137 
00138 /* ---[ */
00139 int
00140 main (int argc, char** argv)
00141 {
00142   print_info ("Estimate boundary points using pcl::BoundaryEstimation. For more information, use: %s -h\n", argv[0]);
00143   bool help = false;
00144   parse_argument (argc, argv, "-h", help);
00145   if (argc < 3 || help)
00146   {
00147     printHelp (argc, argv);
00148     return (-1);
00149   }
00150 
00151   // Parse the command line arguments for .pcd files
00152   std::vector<int> p_file_indices;
00153   p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
00154   if (p_file_indices.size () != 2)
00155   {
00156     print_error ("Need one input PCD file and one output PCD file to continue.\n");
00157     return (-1);
00158   }
00159 
00160   // Command line parsing
00161   int k = default_k;
00162   double radius = default_radius;
00163   double angle  = default_angle;
00164   parse_argument (argc, argv, "-k", k);
00165   parse_argument (argc, argv, "-radius", radius);
00166   parse_argument (argc, argv, "-thresh", angle);
00167 
00168   // Load the first file
00169   pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2);
00170   if (!loadCloud (argv[p_file_indices[0]], *cloud)) 
00171     return (-1);
00172 
00173   // Perform the feature estimation
00174   pcl::PCLPointCloud2 output;
00175   compute (cloud, output, k, radius, angle);
00176 
00177   // Save into the second file
00178   saveCloud (argv[p_file_indices[1]], output);
00179 }
00180 


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:22:36