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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2011, 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 Willow Garage, Inc. 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 <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/features/fpfh.h>
#include <pcl/features/normal_3d.h>
int
main (int argc, char** argv)
{
if (argc < 2)
{
throw std::runtime_error ("Required arguments: filename.pcd");
}
std::string fileName = argv[1];
std::cout << "Reading " << fileName << std::endl;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
if (pcl::io::loadPCDFile<pcl::PointXYZ> (fileName, *cloud) == -1) // load the file
{
PCL_ERROR ("Couldn't read file\n");
return (-1);
}
std::cout << "Loaded " << cloud->size () << " points." << std::endl;
// Compute the normals
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normal_estimation;
normal_estimation.setInputCloud (cloud);
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
normal_estimation.setSearchMethod (tree);
pcl::PointCloud<pcl::Normal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::Normal>);
normal_estimation.setRadiusSearch (0.03);
normal_estimation.compute (*cloud_with_normals);
// Setup the feature computation
pcl::FPFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33> fpfh_estimation;
// Provide the original point cloud (without normals)
fpfh_estimation.setInputCloud (cloud);
// Provide the point cloud with normals
fpfh_estimation.setInputNormals (cloud_with_normals);
// fpfhEstimation.setInputWithNormals(cloud, cloudWithNormals); PFHEstimation does not have this function
// Use the same KdTree from the normal estimation
fpfh_estimation.setSearchMethod (tree);
pcl::PointCloud<pcl::FPFHSignature33>::Ptr pfh_features (new pcl::PointCloud<pcl::FPFHSignature33>);
fpfh_estimation.setRadiusSearch (0.2);
// Actually compute the spin images
fpfh_estimation.compute (*pfh_features);
std::cout << "output size (): " << pfh_features->size () << std::endl;
// Display and retrieve the shape context descriptor vector for the 0th point.
pcl::FPFHSignature33 descriptor = (*pfh_features)[0];
std::cout << descriptor << std::endl;
return 0;
}
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