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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2013-, 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 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.
*
*/
#include <pcl/common/time.h> // for StopWatch
#include <pcl/io/pcd_io.h>
#include <pcl/keypoints/harris_3d.h>
int
main(int argc, char** argv)
{
if (argc < 2)
{
pcl::console::print_info ("Keypoints indices example application.\n");
pcl::console::print_info ("Syntax is: %s <source-pcd-file>\n", argv[0]);
return (1);
}
pcl::console::print_info ("Reading %s\n", argv[1]);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
if(pcl::io::loadPCDFile<pcl::PointXYZRGB> (argv[1], *cloud) == -1) // load the file
{
pcl::console::print_error ("Couldn't read file %s!\n", argv[1]);
return (-1);
}
pcl::HarrisKeypoint3D <pcl::PointXYZRGB, pcl::PointXYZI> detector;
pcl::PointCloud<pcl::PointXYZI>::Ptr keypoints (new pcl::PointCloud<pcl::PointXYZI>);
detector.setNonMaxSupression (true);
detector.setInputCloud (cloud);
detector.setThreshold (1e-6);
pcl::StopWatch watch;
detector.compute (*keypoints);
pcl::console::print_highlight ("Detected %zd points in %lfs\n", keypoints->size (), watch.getTimeSeconds ());
pcl::PointIndicesConstPtr keypoints_indices = detector.getKeypointsIndices ();
if (!keypoints_indices->indices.empty ())
{
pcl::io::savePCDFile ("keypoints.pcd", *cloud, keypoints_indices->indices, true);
pcl::console::print_info ("Saved keypoints to keypoints.pcd\n");
}
else
pcl::console::print_warn ("Keypoints indices are empty!\n");
}
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