vfh_estimation.cpp
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00001 /*
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00036  * $Id: fpfh_estimation.cpp 1032 2011-05-18 22:43:27Z marton $
00037  *
00038  */
00039 
00040 #include <sensor_msgs/PointCloud2.h>
00041 #include <pcl/io/pcd_io.h>
00042 #include <pcl/features/vfh.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 void
00052 printHelp (int, char **argv)
00053 {
00054   print_error ("Syntax is: %s input.pcd output.pcd\n", argv[0]);
00055 }
00056 
00057 bool
00058 loadCloud (const std::string &filename, PointCloud<PointNormal> &cloud)
00059 {
00060   TicToc tt;
00061   print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
00062 
00063   tt.tic ();
00064   if (loadPCDFile<PointNormal> (filename, cloud) < 0)
00065     return (false);
00066   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
00067   print_info ("Available dimensions: "); print_value ("%s\n", getFieldsList (cloud).c_str ());
00068 
00069   // Check if the dataset has normals
00070   std::vector<sensor_msgs::PointField> fields;
00071   if (getFieldIndex (cloud, "normal_x", fields) == -1)
00072   {
00073     print_error ("The input dataset does not contain normal information!\n");
00074     return (false);
00075   }
00076   return (true);
00077 }
00078 
00079 void
00080 compute (const PointCloud<PointNormal>::Ptr &input, PointCloud<VFHSignature308> &output)
00081 {
00082   // Estimate
00083   TicToc tt;
00084   tt.tic ();
00085   
00086   print_highlight (stderr, "Computing ");
00087 
00088   VFHEstimation<PointNormal, PointNormal, VFHSignature308> ne;
00089   ne.setSearchMethod (search::KdTree<PointNormal>::Ptr (new search::KdTree<PointNormal>));
00090   ne.setInputCloud (input);
00091   ne.setInputNormals (input);
00092   
00093   ne.compute (output);
00094 
00095   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
00096 }
00097 
00098 void
00099 saveCloud (const std::string &filename, const PointCloud<VFHSignature308> &output)
00100 {
00101   TicToc tt;
00102   tt.tic ();
00103 
00104   print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
00105   
00106   io::savePCDFile (filename, output, false);
00107   
00108   print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
00109 }
00110 
00111 /* ---[ */
00112 int
00113 main (int argc, char** argv)
00114 {
00115   print_info ("Estimate VFH (308) descriptors using pcl::VFHEstimation. For more information, use: %s -h\n", argv[0]);
00116   bool help = false;
00117   parse_argument (argc, argv, "-h", help);
00118   if (argc < 3 || help)
00119   {
00120     printHelp (argc, argv);
00121     return (-1);
00122   }
00123 
00124   // Parse the command line arguments for .pcd files
00125   std::vector<int> p_file_indices;
00126   p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
00127   if (p_file_indices.size () != 2)
00128   {
00129     print_error ("Need one input PCD file and one output PCD file to continue.\n");
00130     return (-1);
00131   }
00132 
00133   // Load the first file
00134   PointCloud<PointNormal>::Ptr cloud (new PointCloud<PointNormal>);
00135   if (!loadCloud (argv[p_file_indices[0]], *cloud)) 
00136     return (-1);
00137 
00138   // Perform the feature estimation
00139   PointCloud<VFHSignature308> output;
00140   compute (cloud, output);
00141 
00142   // Save into the second file
00143   saveCloud (argv[p_file_indices[1]], output);
00144 }
00145 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:18:56