example_principal_curvatures_estimation.cpp
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00001 /*
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00039 
00040 
00041 #include <iostream>
00042 #include <vector>
00043 
00044 #include <pcl/io/pcd_io.h>
00045 #include <pcl/point_types.h>
00046 #include <pcl/features/normal_3d.h>
00047 #include <pcl/features/principal_curvatures.h>
00048 
00049 
00050 int
00051 main (int, char** argv)
00052 {
00053   std::string filename = argv[1];
00054   std::cout << "Reading " << filename << std::endl;
00055 
00056   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
00057 
00058   if (pcl::io::loadPCDFile<pcl::PointXYZ> (filename, *cloud) == -1) //* load the file
00059   {
00060     PCL_ERROR ("Couldn't read file");
00061     return (-1);
00062   }
00063 
00064   std::cout << "Loaded " << cloud->points.size () << " points." << std::endl;
00065 
00066   // Compute the normals
00067   pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normal_estimation;
00068   normal_estimation.setInputCloud (cloud);
00069 
00070   pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
00071   normal_estimation.setSearchMethod (tree);
00072 
00073   pcl::PointCloud<pcl::Normal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::Normal>);
00074 
00075   normal_estimation.setRadiusSearch (0.03);
00076 
00077   normal_estimation.compute (*cloud_with_normals);
00078 
00079   // Setup the principal curvatures computation
00080   pcl::PrincipalCurvaturesEstimation<pcl::PointXYZ, pcl::Normal, pcl::PrincipalCurvatures> principal_curvatures_estimation;
00081 
00082   // Provide the original point cloud (without normals)
00083   principal_curvatures_estimation.setInputCloud (cloud);
00084 
00085   // Provide the point cloud with normals
00086   principal_curvatures_estimation.setInputNormals (cloud_with_normals);
00087 
00088   // Use the same KdTree from the normal estimation
00089   principal_curvatures_estimation.setSearchMethod (tree);
00090   principal_curvatures_estimation.setRadiusSearch (1.0);
00091 
00092   // Actually compute the principal curvatures
00093   pcl::PointCloud<pcl::PrincipalCurvatures>::Ptr principal_curvatures (new pcl::PointCloud<pcl::PrincipalCurvatures> ());
00094   principal_curvatures_estimation.compute (*principal_curvatures);
00095 
00096   std::cout << "output points.size (): " << principal_curvatures->points.size () << std::endl;
00097 
00098   // Display and retrieve the shape context descriptor vector for the 0th point.
00099   pcl::PrincipalCurvatures descriptor = principal_curvatures->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