gp3_surface.cpp
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00001 /*
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00036  * $Id: normal_estimation.cpp 1032 2011-05-18 22:43:27Z marton $
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00038  */
00039 
00040 #include <pcl/io/pcd_io.h>
00041 #include <pcl/io/vtk_io.h>
00042 #include <pcl/console/print.h>
00043 #include <pcl/console/parse.h>
00044 #include <pcl/console/time.h>
00045 #include <pcl/surface/gp3.h>
00046 
00047 using namespace pcl;
00048 using namespace pcl::io;
00049 using namespace pcl::console;
00050 
00051 double default_mu = 0.0;
00052 double default_radius = 0.0;
00053 
00054 void
00055 printHelp (int, char **argv)
00056 {
00057   print_error ("Syntax is: %s input.pcd output.vtk <options>\n", argv[0]);
00058   print_info ("  where options are:\n");
00059   print_info ("                     -radius X = use a radius of Xm around each point to determine the neighborhood (default: "); 
00060   print_value ("%f", default_radius); print_info (")\n");
00061   print_info ("                     -mu X     = set the multipler of the nearest neighbor distance to obtain the final search radius (default: "); 
00062   print_value ("%f", default_mu); print_info (")\n");
00063 }
00064 
00065 bool
00066 loadCloud (const std::string &filename, PointCloud<PointNormal> &cloud)
00067 {
00068   TicToc tt;
00069   print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
00070 
00071   tt.tic ();
00072   if (loadPCDFile<PointNormal> (filename, cloud) < 0)
00073     return (false);
00074   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
00075   print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
00076 
00077   return (true);
00078 }
00079 
00080 void
00081 compute (const PointCloud<PointNormal>::Ptr &input, pcl::PolygonMesh &output,
00082          double mu, double radius)
00083 {
00084   // Estimate
00085   TicToc tt;
00086   tt.tic ();
00087   
00088   print_highlight (stderr, "Computing ");
00089 
00090 
00091   PointCloud<PointNormal>::Ptr cloud (new PointCloud<PointNormal> ());
00092   for (size_t i = 0; i < cloud->size (); ++i)
00093     if (pcl_isfinite (input->points[i].x))
00094       cloud->push_back (input->points[i]);
00095 
00096   cloud->width = static_cast<uint32_t> (cloud->size ());
00097   cloud->height = 1;
00098   cloud->is_dense = false;
00099 
00100 
00101   GreedyProjectionTriangulation<PointNormal> gpt;
00102   gpt.setSearchMethod (pcl::search::KdTree<pcl::PointNormal>::Ptr (new pcl::search::KdTree<pcl::PointNormal>));
00103   gpt.setInputCloud (cloud);
00104   gpt.setSearchRadius (radius);
00105   gpt.setMu (mu);
00106 
00107 
00108   gpt.reconstruct (output);
00109 
00110   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%zu", output.polygons.size ()); print_info (" polygons]\n");
00111 }
00112 
00113 void
00114 saveCloud (const std::string &filename, const pcl::PolygonMesh &output)
00115 {
00116   TicToc tt;
00117   tt.tic ();
00118 
00119   print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
00120   saveVTKFile (filename, output);
00121 
00122   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%zu", output.polygons.size ()); print_info (" polygons]\n");
00123 }
00124 
00125 /* ---[ */
00126 int
00127 main (int argc, char** argv)
00128 {
00129   print_info ("Perform surface triangulation using pcl::GreedyProjectionTriangulation. For more information, use: %s -h\n", argv[0]);
00130 
00131   if (argc < 3)
00132   {
00133     printHelp (argc, argv);
00134     return (-1);
00135   }
00136 
00137   // Parse the command line arguments for .pcd files
00138   std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
00139   if (pcd_file_indices.size () != 1)
00140   {
00141     print_error ("Need one input PCD file to continue.\n");
00142     return (-1);
00143   }
00144   std::vector<int> vtk_file_indices = parse_file_extension_argument (argc, argv, ".vtk");
00145   if (vtk_file_indices.size () != 1)
00146   {
00147     print_error ("Need one output VTK file to continue.\n");
00148     return (-1);
00149   }
00150 
00151   // Command line parsing
00152   double mu = default_mu;
00153   double radius = default_radius;
00154   parse_argument (argc, argv, "-mu", mu);
00155   parse_argument (argc, argv, "-radius", radius);
00156 
00157   // Load the first file
00158   PointCloud<PointNormal>::Ptr cloud (new PointCloud<PointNormal>);
00159   if (!loadCloud (argv[pcd_file_indices[0]], *cloud)) 
00160     return (-1);
00161 
00162   // Perform the surface triangulation
00163   pcl::PolygonMesh output;
00164   compute (cloud, output, mu, radius);
00165 
00166   // Save into the second file
00167   saveCloud (argv[vtk_file_indices[0]], output);
00168 }
00169 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:15:22