example_point_feature_histograms.cpp
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00001 /*
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00039 
00040 #include <iostream>
00041 #include <vector>
00042 
00043 #include <pcl/io/pcd_io.h>
00044 #include <pcl/point_types.h>
00045 #include <pcl/features/pfh.h>
00046 #include <pcl/features/normal_3d.h>
00047 
00048 int
00049 main (int, char** argv)
00050 {
00051   std::string filename = argv[1];
00052   std::cout << "Reading " << filename << std::endl;
00053 
00054   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
00055 
00056   if (pcl::io::loadPCDFile<pcl::PointXYZ> (filename, *cloud) == -1) //* load the file
00057   {
00058     PCL_ERROR ("Couldn't read file");
00059     return (-1);
00060   }
00061 
00062   std::cout << "Loaded " << cloud->points.size () << " points." << std::endl;
00063 
00064   // Compute the normals
00065   pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normal_estimation;
00066   normal_estimation.setInputCloud (cloud);
00067 
00068   pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
00069   normal_estimation.setSearchMethod (tree);
00070 
00071   pcl::PointCloud<pcl::Normal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::Normal>);
00072 
00073   normal_estimation.setRadiusSearch (0.03);
00074 
00075   normal_estimation.compute (*cloud_with_normals);
00076 
00077   // Setup the feature computation
00078 
00079   pcl::PFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::PFHSignature125> pfh_estimation;
00080   // Provide the original point cloud (without normals)
00081   pfh_estimation.setInputCloud (cloud);
00082   // Provide the point cloud with normals
00083   pfh_estimation.setInputNormals (cloud_with_normals);
00084 
00085   // pfh_estimation.setInputWithNormals (cloud, cloud_with_normals); PFHEstimation does not have this function
00086   // Use the same KdTree from the normal estimation
00087   pfh_estimation.setSearchMethod (tree);
00088 
00089   pcl::PointCloud<pcl::PFHSignature125>::Ptr pfh_features (new pcl::PointCloud<pcl::PFHSignature125>);
00090 
00091   pfh_estimation.setRadiusSearch (0.2);
00092 
00093   // Actually compute the spin images
00094   pfh_estimation.compute (*pfh_features);
00095 
00096   std::cout << "output points.size (): " << pfh_features->points.size () << std::endl;
00097 
00098   // Display and retrieve the shape context descriptor vector for the 0th point.
00099   pcl::PFHSignature125 descriptor = pfh_features->points[0];
00100   std::cout << descriptor << std::endl;
00101 
00102   return 0;
00103 }


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:23:36