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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, 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/PCLPointCloud2.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/spin_image.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::console;
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::Histogram<153>,
(float[153], histogram, spinimage)
)
int default_image_width = 8;
double default_support_angle = 0.5;
int default_min_neigh = 1;
double default_radius = 0.0;
Eigen::Vector4f translation;
Eigen::Quaternionf orientation;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
print_info (" where options are:\n");
print_info (" -radius X = use a radius of Xm around each point to determine the neighborhood (default: ");
print_value ("%f", default_radius); print_info (")\n");
print_info (" -width X = resolution (width) of a spin-image (default: ");
print_value ("%d", default_image_width); print_info (")\n");
print_info (" -suppangle X = min cosine of support angle for filtering points by normals (default: ");
print_value ("%f", default_support_angle); print_info (")\n");
print_info (" -neigh X = min number of neighbours to compute a spin-image (default: ");
print_value ("%d", default_min_neigh); print_info (")\n");
print_info (" -radial = toggles radial structure of a spin-image (default: false)\n");
print_info (" -angular = toggles angular domain of a spin-image (default: false)\n");
}
bool
loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud)
{
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
tt.tic ();
if (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", getFieldsList (cloud).c_str ());
// Check if the dataset has normals
if (getFieldIndex (cloud, "normal_x") == -1)
{
print_error ("The input dataset does not contain normal information!\n");
return (false);
}
return (true);
}
void
saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &output)
{
TicToc tt;
tt.tic ();
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
io::savePCDFile (filename, output, translation, orientation, false);
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)
{
print_info ("Estimate spin-image descriptors using pcl::SpinEstimation. For more information, use: %s -h\n", argv[0]);
bool help = false;
parse_argument (argc, argv, "-h", help);
if (argc < 3 || help)
{
printHelp (argc, argv);
return (-1);
}
// 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 () != 2)
{
print_error ("Need one input PCD file and one output PCD file to continue.\n");
return (-1);
}
// Command line parsing
double radius = default_radius;
parse_argument (argc, argv, "-radius", radius);
int image_width = default_image_width;
parse_argument (argc, argv, "-width", image_width);
double support_angle = default_support_angle;
parse_argument (argc, argv, "-suppangle", support_angle);
int min_neigh = default_min_neigh;
parse_argument (argc, argv, "-neigh", min_neigh);
// Load the first file
pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2);
if (!loadCloud (argv[p_file_indices[0]], *cloud))
return (-1);
// Perform the feature estimation
pcl::PCLPointCloud2 output;
// Convert data to PointCloud<T>
PointCloud<PointNormal>::Ptr xyznormals (new PointCloud<PointNormal>);
fromPCLPointCloud2 (*cloud, *xyznormals);
// Estimate
TicToc tt;
tt.tic ();
print_highlight (stderr, "Computing ");
using SpinImage = Histogram<153>;
SpinImageEstimation<PointNormal, PointNormal, SpinImage> spin_est (image_width, support_angle, min_neigh);
//spin_est.setInputWithNormals (xyznormals, xyznormals);
spin_est.setInputCloud (xyznormals);
spin_est.setInputNormals (xyznormals);
spin_est.setSearchMethod (search::KdTree<PointNormal>::Ptr (new search::KdTree<PointNormal>));
spin_est.setRadiusSearch (radius);
if (find_argument(argc, argv, "-radial") > 0)
spin_est.setRadialStructure();
if (find_argument(argc, argv, "-angular") > 0)
spin_est.setAngularDomain();
PointCloud<SpinImage> descriptors;
spin_est.compute (descriptors);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", descriptors.width * descriptors.height); print_info (" points]\n");
// Convert data back
pcl::PCLPointCloud2 output_descr;
toPCLPointCloud2 (descriptors, output_descr);
concatenateFields (*cloud, output_descr, output);
// Save into the second file
saveCloud (argv[p_file_indices[1]], output);
}
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