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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010, Willow Garage, Inc.
* Copyright (c) 2012-, 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.
*
* $Id$
*
*/
/**
@b pcd_concatenate_points exemplifies how to concatenate the points of two PointClouds having the same fields.
**/
#include <iostream>
#include <pcl/console/time.h>
#include <pcl/io/pcd_io.h>
Eigen::Vector4f translation;
Eigen::Quaternionf orientation;
////////////////////////////////////////////////////////////////////////////////
/** \brief Parse command line arguments for file names.
* Returns: a vector with file names indices.
* \param argc
* \param argv
* \param extension
*/
std::vector<int>
parseFileExtensionArgument (int argc, char** argv, std::string extension)
{
std::vector<int> indices;
for (int i = 1; i < argc; ++i)
{
std::string fname = std::string (argv[i]);
// Needs to be at least 4: .ext
if (fname.size () <= 4)
continue;
// For being case insensitive
std::transform (fname.begin (), fname.end (), fname.begin (), tolower);
std::transform (extension.begin (), extension.end (), extension.begin (), tolower);
// Check if found
std::string::size_type it;
if ((it = fname.find (extension)) != std::string::npos)
{
// Additional check: we want to be able to differentiate between .p and .png
if ((extension.size () - (fname.size () - it)) == 0)
indices.push_back (i);
}
}
return (indices);
}
bool
loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud)
{
using namespace pcl::console;
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
tt.tic ();
if (pcl::io::loadPCDFile (filename, cloud, translation, orientation) < 0)
return (false);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
return (true);
}
void
saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &output)
{
using namespace pcl::console;
TicToc tt;
tt.tic ();
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
pcl::PCDWriter w;
w.writeBinaryCompressed (filename, output, translation, orientation);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}
/* ---[ */
int
main (int argc, char** argv)
{
if (argc < 2)
{
std::cerr << "Syntax is: " << argv[0] << " <filename 1..N.pcd>" << std::endl;
std::cerr << "Result will be saved to output.pcd" << std::endl;
return (-1);
}
std::vector<int> file_indices = parseFileExtensionArgument (argc, argv, ".pcd");
//pcl::PointCloud<pcl::PointXYZ> cloud_all;
pcl::PCLPointCloud2 cloud_all;
for (const int &file_index : file_indices)
{
// Load the Point Cloud
pcl::PCLPointCloud2 cloud;
loadCloud (argv[file_index], cloud);
//pcl::PointCloud<pcl::PointXYZ> cloud;
//pcl::io::loadPCDFile (argv[file_indices[i]], cloud);
//cloud_all += cloud;
pcl::concatenate (cloud_all, cloud, cloud_all);
PCL_INFO ("Total number of points so far: %u. Total data size: %lu bytes.\n", cloud_all.width * cloud_all.height, cloud_all.data.size ());
}
saveCloud ("output.pcd", cloud_all);
return (0);
}
/* ]--- */
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