normal_estimation.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 <sensor_msgs/PointCloud2.h>
00041 #include <pcl/io/pcd_io.h>
00042 #include <pcl/features/normal_3d.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 
00054 Eigen::Vector4f    translation;
00055 Eigen::Quaternionf orientation;
00056 
00057 void
00058 printHelp (int, char **argv)
00059 {
00060   print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
00061   print_info ("  where options are:\n");
00062   print_info ("                     -radius X = use a radius of Xm around each point to determine the neighborhood (default: "); 
00063   print_value ("%f", default_radius); print_info (")\n");
00064   print_info ("                     -k X      = use a fixed number of X-nearest neighbors around each point (default: "); 
00065   print_value ("%f", default_k); print_info (")\n");
00066 }
00067 
00068 bool
00069 loadCloud (const std::string &filename, sensor_msgs::PointCloud2 &cloud)
00070 {
00071   TicToc tt;
00072   print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
00073 
00074   tt.tic ();
00075   if (loadPCDFile (filename, cloud, translation, orientation) < 0)
00076     return (false);
00077   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
00078   print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
00079 
00080   return (true);
00081 }
00082 
00083 void
00084 compute (const sensor_msgs::PointCloud2::ConstPtr &input, sensor_msgs::PointCloud2 &output,
00085          int k, double radius)
00086 {
00087   // Convert data to PointCloud<T>
00088   PointCloud<PointXYZ>::Ptr xyz (new PointCloud<PointXYZ>);
00089   fromROSMsg (*input, *xyz);
00090 
00091   // Estimate
00092   TicToc tt;
00093   tt.tic ();
00094   
00095   print_highlight (stderr, "Computing ");
00096 
00097   NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
00098   ne.setInputCloud (xyz);
00099 //  ne.setSearchMethod (pcl::search::KdTree<pcl::PointXYZ>::Ptr (new pcl::search::KdTree<pcl::PointXYZ>));
00100   ne.setKSearch (k);
00101   ne.setRadiusSearch (radius);
00102   
00103   PointCloud<Normal> normals;
00104   ne.compute (normals);
00105 
00106   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", normals.width * normals.height); print_info (" points]\n");
00107 
00108   // Convert data back
00109   sensor_msgs::PointCloud2 output_normals;
00110   toROSMsg (normals, output_normals);
00111   concatenateFields (*input, output_normals, output);
00112 }
00113 
00114 void
00115 saveCloud (const std::string &filename, const sensor_msgs::PointCloud2 &output)
00116 {
00117   TicToc tt;
00118   tt.tic ();
00119 
00120   print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
00121   
00122   pcl::io::savePCDFile (filename, output, translation, orientation, false);
00123   
00124   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
00125 }
00126 
00127 /* ---[ */
00128 int
00129 main (int argc, char** argv)
00130 {
00131   print_info ("Estimate surface normals using pcl::NormalEstimation. For more information, use: %s -h\n", argv[0]);
00132 
00133   if (argc < 3)
00134   {
00135     printHelp (argc, argv);
00136     return (-1);
00137   }
00138 
00139   // Parse the command line arguments for .pcd files
00140   std::vector<int> p_file_indices;
00141   p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
00142   if (p_file_indices.size () != 2)
00143   {
00144     print_error ("Need one input PCD file and one output PCD file to continue.\n");
00145     return (-1);
00146   }
00147 
00148   // Command line parsing
00149   int k = default_k;
00150   double radius = default_radius;
00151   parse_argument (argc, argv, "-k", k);
00152   parse_argument (argc, argv, "-radius", radius);
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   compute (cloud, output, k, radius);
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 03:15:52