$search

surface_convex_hull.cpp

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: surface_convex_hull.cpp 36118 2011-02-22 00:10:08Z rusu $
 *
 */

#include "pcl/ModelCoefficients.h"

#include "pcl/io/pcd_io.h"
#include "pcl/point_types.h"

#include "pcl/sample_consensus/method_types.h"
#include "pcl/sample_consensus/model_types.h"
#include "pcl/filters/passthrough.h"
#include "pcl/filters/project_inliers.h"
#include "pcl/segmentation/sac_segmentation.h"
#include "pcl/surface/convex_hull.h"

/* ---[ */
int
  main (int argc, char** argv)
{
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ()), cloud_filtered (new pcl::PointCloud<pcl::PointXYZ> ()), cloud_projected (new pcl::PointCloud<pcl::PointXYZ> ());
  pcl::PCDReader reader;
  reader.read ("table_scene_mug_stereo_textured.pcd", *cloud);

  // Build a filter to remove spurious NaNs
  pcl::PassThrough<pcl::PointXYZ> pass;
  pass.setInputCloud (cloud);
  pass.setFilterFieldName ("z");
  pass.setFilterLimits (0, 1.1);
  pass.filter (*cloud_filtered);
  ROS_INFO ("PointCloud after filtering has: %zu data points.", cloud_filtered->points.size ());

  pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
  pcl::PointIndices::Ptr inliers (new pcl::PointIndices ());
  // Create the segmentation object
  pcl::SACSegmentation<pcl::PointXYZ> seg;
  // Optional
  seg.setOptimizeCoefficients (true);
  // Mandatory
  seg.setModelType (pcl::SACMODEL_PLANE);
  seg.setMethodType (pcl::SAC_RANSAC);
  seg.setDistanceThreshold (0.01);

  seg.setInputCloud (cloud_filtered);
  seg.segment (*inliers, *coefficients);

  // Project the model inliers 
  pcl::ProjectInliers<pcl::PointXYZ> proj;
  proj.setModelType (pcl::SACMODEL_PLANE);
  proj.setInputCloud (cloud_filtered);
  proj.setModelCoefficients (coefficients);
  proj.filter (*cloud_projected);

  // Create a Convex Hull representation of the projected inliers
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_hull (new pcl::PointCloud<pcl::PointXYZ> ());
  pcl::ConvexHull<pcl::PointXYZ> chull;
  chull.setInputCloud (cloud_projected);
  chull.reconstruct (*cloud_hull);

  ROS_INFO ("Convex hull has: %zu data points.", cloud_hull->points.size ());

  pcl::PCDWriter writer; 
  writer.write ("table_scene_mug_stereo_textured_hull.pcd", *cloud_hull, false);

  return (0);
}
/* ]--- */

---

pcl_tutorials
Author(s): Radu Bogdan Rusu, Bastian Steder
autogenerated on Fri Mar 1 16:30:11 2013