example_shape_contexts.cpp
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00001 /*
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00039 
00040 #include <iostream>
00041 #include <vector>
00042 
00043 #include <pcl/io/pcd_io.h>
00044 #include <pcl/point_types.h>
00045 #include <pcl/features/3dsc.h>
00046 #include <pcl/features/impl/3dsc.hpp>
00047 #include <pcl/features/normal_3d.h>
00048 
00049 int
00050 main (int, char** argv)
00051 {
00052   std::string filename = argv[1];
00053   std::cout << "Reading " << filename << std::endl;
00054   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
00055 
00056   if (pcl::io::loadPCDFile <pcl::PointXYZ> (filename.c_str (), *cloud) == -1)
00057   // load the file
00058   {
00059     PCL_ERROR ("Couldn't read file");
00060     return (-1);
00061   }
00062   std::cout << "Loaded " << cloud->points.size () << " points." << std::endl;
00063 
00064   // Compute the normals
00065   pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normal_estimation;
00066   normal_estimation.setInputCloud (cloud);
00067 
00068   pcl::search::KdTree<pcl::PointXYZ>::Ptr kdtree (new pcl::search::KdTree<pcl::PointXYZ>);
00069   normal_estimation.setSearchMethod (kdtree);
00070 
00071   pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud< pcl::Normal>);
00072   normal_estimation.setRadiusSearch (0.03);
00073   normal_estimation.compute (*normals);
00074 
00075   // Setup the shape context computation
00076   pcl::ShapeContext3DEstimation<pcl::PointXYZ, pcl::Normal, pcl::ShapeContext1980> shape_context;
00077 
00078   // Provide the point cloud
00079   shape_context.setInputCloud (cloud);
00080   // Provide normals
00081   shape_context.setInputNormals (normals);
00082   // Use the same KdTree from the normal estimation
00083   shape_context.setSearchMethod (kdtree);
00084   pcl::PointCloud<pcl::ShapeContext1980>::Ptr shape_context_features (new pcl::PointCloud<pcl::ShapeContext1980>);
00085 
00086   // The minimal radius is generally set to approx. 1/10 of the search radius, while the pt. density radius is generally set to 1/5
00087   shape_context.setRadiusSearch (0.2);
00088   shape_context.setPointDensityRadius (0.04);
00089   shape_context.setMinimalRadius (0.02);
00090 
00091   // Actually compute the shape contexts
00092   shape_context.compute (*shape_context_features);
00093   std::cout << "3DSC output points.size (): " << shape_context_features->points.size () << std::endl;
00094 
00095   // Display and retrieve the shape context descriptor vector for the 0th point.
00096   std::cout << shape_context_features->points[0] << std::endl;
00097   //float* first_descriptor = shape_context_features->points[0].descriptor; // 1980 elements
00098 
00099   return 0;
00100 }


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:23:36