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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/normal_3d.h>
#include <pcl/features/rift.h>
#include <pcl/features/intensity_gradient.h>
int
main (int, char** argv)
{
std::string filename = argv[1];
std::cout << "Reading " << filename << std::endl;
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZI>);
if (pcl::io::loadPCDFile<pcl::PointXYZI> (filename, *cloud) == -1) // load the file
{
PCL_ERROR ("Couldn't read file\n");
return -1;
}
std::cout << "points: " << cloud->size () << std::endl;
// Estimate the surface normals
pcl::PointCloud<pcl::Normal>::Ptr cloud_n (new pcl::PointCloud<pcl::Normal>);
pcl::NormalEstimation<pcl::PointXYZI, pcl::Normal> norm_est;
norm_est.setInputCloud(cloud);
pcl::search::KdTree<pcl::PointXYZI>::Ptr treept1 (new pcl::search::KdTree<pcl::PointXYZI> (false));
norm_est.setSearchMethod(treept1);
norm_est.setRadiusSearch(0.25);
norm_est.compute(*cloud_n);
std::cout<<" Surface normals estimated";
std::cout<<" with size "<< cloud_n->size() <<std::endl;
// Estimate the Intensity Gradient
pcl::PointCloud<pcl::IntensityGradient>::Ptr cloud_ig (new pcl::PointCloud<pcl::IntensityGradient>);
pcl::IntensityGradientEstimation<pcl::PointXYZI, pcl::Normal, pcl::IntensityGradient> gradient_est;
gradient_est.setInputCloud(cloud);
gradient_est.setInputNormals(cloud_n);
pcl::search::KdTree<pcl::PointXYZI>::Ptr treept2 (new pcl::search::KdTree<pcl::PointXYZI> (false));
gradient_est.setSearchMethod(treept2);
gradient_est.setRadiusSearch(0.25);
gradient_est.compute(*cloud_ig);
std::cout<<" Intensity Gradient estimated";
std::cout<<" with size "<< cloud_ig->size() <<std::endl;
// Estimate the RIFT feature
pcl::RIFTEstimation<pcl::PointXYZI, pcl::IntensityGradient, pcl::Histogram<32> > rift_est;
pcl::search::KdTree<pcl::PointXYZI>::Ptr treept3 (new pcl::search::KdTree<pcl::PointXYZI> (false));
rift_est.setSearchMethod(treept3);
rift_est.setRadiusSearch(10.0);
rift_est.setNrDistanceBins (4);
rift_est.setNrGradientBins (8);
rift_est.setInputCloud(cloud);
rift_est.setInputGradient(cloud_ig);
pcl::PointCloud<pcl::Histogram<32> > rift_output;
rift_est.compute(rift_output);
std::cout<<" RIFT feature estimated";
std::cout<<" with size "<<rift_output.size()<<std::endl;
// Display and retrieve the rift descriptor vector for the first point
std::cout << rift_output.front() << std::endl;
return 0;
}
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