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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2014-, Open Perception, 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 the copyright holder(s) 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.
*
*/
#include <pcl/io/pcd_io.h>
#include <boost/lexical_cast.hpp> // for lexical_cast
/** @brief PCL point object */
using PointT = pcl::PointXYZRGBA;
/** @brief PCL Point cloud object */
using PointCloudT = pcl::PointCloud<PointT>;
int
main (int argc,
char** argv)
{
if (argc != 3 && argc != 4)
{
PCL_ERROR ("Usage: %s cloud_in.pcd cloud_out_ascii.pcd percentage_of_NaN \n", argv[0]);
return (-1);
}
int percentage_of_NaN = 20;
if (argc == 4)
percentage_of_NaN = boost::lexical_cast<int>(argv[3]);
PCL_INFO ("Replacing approximately %d%% of the cloud with NaN values (already existing NaN values are conserved)\n", percentage_of_NaN);
PointCloudT::Ptr cloud (new PointCloudT);
if (pcl::io::loadPCDFile (argv[1], *cloud) != 0)
return (-1);
for (auto &point : *cloud)
{
int random = 1 + (rand () % (int) (100));
int random_xyz = 1 + (rand () % (int) (3 - 1 + 1));
if (random < percentage_of_NaN)
{
if (random_xyz == 1)
point.x = std::numeric_limits<double>::quiet_NaN ();
else if (random_xyz == 2)
point.y = std::numeric_limits<double>::quiet_NaN ();
else
point.z = std::numeric_limits<double>::quiet_NaN ();
}
}
pcl::io::savePCDFile (argv[2], *cloud);
return (0);
}
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