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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2012, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
* Copyright (c) 2014, RadiantBlue Technologies, 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.
*
* $Id$
*/
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/generate.h>
#include <pcl/common/random.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
using namespace pcl;
using namespace pcl::io;
using namespace pcl::common;
using namespace pcl::console;
using PointType = PointXYZ;
using Cloud = PointCloud<PointXYZ>;
using ConstCloudPtr = const Cloud::ConstPtr;
std::string default_distribution = "uniform";
float default_xmin = 0.0f;
float default_xmax = 1.0f;
float default_xmean = 0.0f;
float default_xstddev = 1.0f;
float default_ymin = 0.0f;
float default_ymax = 1.0f;
float default_ymean = 0.0f;
float default_ystddev = 1.0f;
float default_zmin = 0.0f;
float default_zmax = 1.0f;
float default_zmean = 0.0f;
float default_zstddev = 1.0f;
int default_size = 10000;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s output.pcd <options>\n", argv[0]);
print_info (" where options are:\n");
print_info (" -distribution X = the distribution to be used (options: uniform / normal) (default: ");
print_value ("%s", default_distribution.c_str ()); print_info (")\n");
print_info (" -size X = number of points in cloud (default: ");
print_value ("%d", default_size); print_info (")\n");
print_info (" Options for uniform distribution:\n");
print_info (" -[x|y|z]min X = minimum for the [x|y|z] dimension (defaults: ");
print_value ("%f, %f, %f", default_xmin, default_ymin, default_zmin); print_info (")\n");
print_info (" -[x|y|z]max X = maximum for the [x|y|z] dimension (defaults: ");
print_value ("%f, %f, %f", default_xmax, default_ymax, default_zmax); print_info (")\n");
print_info (" Options for normal distribution:\n");
print_info (" -[x|y|z]mean X = mean for the [x|y|z] dimension (defaults: ");
print_value ("%f, %f, %f", default_xmean, default_ymean, default_zmean); print_info (")\n");
print_info (" -[x|y|z]stddev X = standard deviation for the [x|y|z] dimension (defaults: ");
print_value ("%f, %f, %f", default_xstddev, default_ystddev, default_zstddev); print_info (")\n");
}
void
saveCloud (const std::string &filename, const Cloud &output)
{
TicToc tt;
tt.tic ();
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
PCDWriter w;
w.writeBinaryCompressed (filename, output);
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 (find_switch (argc, argv, "-h"))
{
printHelp (argc, argv);
return (0);
}
print_info ("Generate a random point cloud. For more information, use: %s -h\n", argv[0]);
if (argc < 2)
{
printHelp (argc, argv);
return (-1);
}
// Command line parsing
std::string distribution = default_distribution;
float xmin = default_xmin;
float xmax = default_xmax;
float xmean = default_xmean;
float xstddev = default_xstddev;
float ymin = default_ymin;
float ymax = default_ymax;
float ymean = default_ymean;
float ystddev = default_ystddev;
float zmin = default_zmin;
float zmax = default_zmax;
float zmean = default_zmean;
float zstddev = default_zstddev;
int size = default_size;
parse_argument (argc, argv, "-distribution", distribution);
parse_argument (argc, argv, "-xmin", xmin);
parse_argument (argc, argv, "-xmax", xmax);
parse_argument (argc, argv, "-xmean", xmean);
parse_argument (argc, argv, "-xstddev", xstddev);
parse_argument (argc, argv, "-ymin", ymin);
parse_argument (argc, argv, "-ymax", ymax);
parse_argument (argc, argv, "-ymean", ymean);
parse_argument (argc, argv, "-ystddev", ystddev);
parse_argument (argc, argv, "-zmin", zmin);
parse_argument (argc, argv, "-zmax", zmax);
parse_argument (argc, argv, "-zmean", zmean);
parse_argument (argc, argv, "-zstddev", zstddev);
parse_argument (argc, argv, "-size", size);
// Parse the command line arguments for .pcd files
std::vector<int> p_file_indices;
p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
if (p_file_indices.size () != 1)
{
print_error ("Need one output PCD file to continue.\n");
return (-1);
}
// Perform the feature estimation
Cloud output;
// Estimate
TicToc tt;
tt.tic ();
print_highlight (stderr, "Computing ");
if (distribution == "uniform")
{
CloudGenerator<pcl::PointXYZ, UniformGenerator<float> > generator;
auto seed = static_cast<std::uint32_t> (time (nullptr));
UniformGenerator<float>::Parameters x_params (xmin, xmax, seed++);
generator.setParametersForX (x_params);
UniformGenerator<float>::Parameters y_params (ymin, ymax, seed++);
generator.setParametersForY (y_params);
UniformGenerator<float>::Parameters z_params (zmin, zmax, seed++);
generator.setParametersForZ (z_params);
generator.fill (size, 1, output);
}
else if (distribution == "normal")
{
CloudGenerator<pcl::PointXYZ, NormalGenerator<float> > generator;
auto seed = static_cast<std::uint32_t> (time (nullptr));
NormalGenerator<float>::Parameters x_params (xmean, xstddev, seed++);
generator.setParametersForX (x_params);
NormalGenerator<float>::Parameters y_params (ymean, ystddev, seed++);
generator.setParametersForY (y_params);
NormalGenerator<float>::Parameters z_params (zmean, zstddev, seed++);
generator.setParametersForZ (z_params);
generator.fill (size, 1, output);
}
else
{
PCL_ERROR ("%s is not a valid generator! Quitting!\n", distribution.c_str ());
return (0);
}
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
// Save into the second file
saveCloud (argv[p_file_indices[0]], output);
}
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