icp_simple.cpp
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00001 // kate: replace-tabs off; indent-width 4; indent-mode normal
00002 // vim: ts=4:sw=4:noexpandtab
00003 /*
00004 
00005 Copyright (c) 2010--2012,
00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00007 You can contact the authors at <f dot pomerleau at gmail dot com> and
00008 <stephane at magnenat dot net>
00009 
00010 All rights reserved.
00011 
00012 Redistribution and use in source and binary forms, with or without
00013 modification, are permitted provided that the following conditions are met:
00014     * Redistributions of source code must retain the above copyright
00015       notice, this list of conditions and the following disclaimer.
00016     * Redistributions in binary form must reproduce the above copyright
00017       notice, this list of conditions and the following disclaimer in the
00018       documentation and/or other materials provided with the distribution.
00019     * Neither the name of the <organization> nor the
00020       names of its contributors may be used to endorse or promote products
00021       derived from this software without specific prior written permission.
00022 
00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 
00034 */
00035 
00036 #include "pointmatcher/PointMatcher.h"
00037 #include <cassert>
00038 #include <iostream>
00039 #include "boost/filesystem.hpp"
00040 
00041 using namespace std;
00042 
00043 void validateArgs(int argc, char *argv[], bool& isCSV);
00044 
00049 int main(int argc, char *argv[])
00050 {
00051         bool isCSV = true;
00052         validateArgs(argc, argv, isCSV);
00053         
00054         typedef PointMatcher<float> PM;
00055         typedef PM::DataPoints DP;
00056         
00057         // Load point clouds
00058         const DP ref(DP::load(argv[1]));
00059         const DP data(DP::load(argv[2]));
00060 
00061         // Create the default ICP algorithm
00062         PM::ICP icp;
00063         
00064         // See the implementation of setDefault() to create a custom ICP algorithm
00065         icp.setDefault();
00066 
00067         // Compute the transformation to express data in ref
00068         PM::TransformationParameters T = icp(data, ref);
00069 
00070         // Transform data to express it in ref
00071         DP data_out(data);
00072         icp.transformations.apply(data_out, T);
00073         
00074         // Safe files to see the results
00075         ref.save("test_ref.vtk");
00076         data.save("test_data_in.vtk");
00077         data_out.save("test_data_out.vtk");
00078         cout << "Final transformation:" << endl << T << endl;
00079 
00080         return 0;
00081 }
00082 
00083 void validateArgs(int argc, char *argv[], bool& isCSV )
00084 {
00085         if (argc != 3)
00086         {
00087                 cerr << "Wrong number of arguments, usage " << argv[0] << " reference.csv reading.csv" << endl;
00088                 cerr << "Will create 3 vtk files for inspection: ./test_ref.vtk, ./test_data_in.vtk and ./test_data_out.vtk" << endl;
00089                 cerr << endl << "2D Example:" << endl;
00090                 cerr << "  " << argv[0] << " ../../examples/data/2D_twoBoxes.csv ../../examples/data/2D_oneBox.csv" << endl;
00091                 cerr << endl << "3D Example:" << endl;
00092                 cerr << "  " << argv[0] << " ../../examples/data/car_cloud400.csv ../../examples/data/car_cloud401.csv" << endl;
00093                 exit(1);
00094         }
00095 }


libpointmatcher
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autogenerated on Thu Jun 20 2019 19:51:31