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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/filters/filter.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/pcd_io.h>
#include <pcl/segmentation/region_growing.h>
#include <pcl/common/time.h>
#include <pcl/console/parse.h>
int
main (int argc, char** av)
{
if (argc < 2)
{
pcl::console::print_info ("Syntax is: %s <source-pcd-file> [-dump]\n\n", av[0]);
pcl::console::print_info ("If -dump is provided write the extracted clusters to cluster.dat\n\n");
return (1);
}
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_no_nans (new pcl::PointCloud<pcl::PointXYZ>());
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_segmented (new pcl::PointCloud<pcl::PointXYZRGB>());
pcl::PCDWriter writer;
if (pcl::io::loadPCDFile(av[1], *cloud_ptr)==-1)
{
return -1;
}
pcl::console::print_highlight("Loaded cloud %s of size %zu\n",
av[1],
static_cast<std::size_t>(cloud_ptr->size()));
// Remove the nans
cloud_ptr->is_dense = false;
cloud_no_nans->is_dense = false;
pcl::Indices indices;
pcl::removeNaNFromPointCloud (*cloud_ptr, *cloud_no_nans, indices);
pcl::console::print_highlight("Removed nans from %zu to %zu\n",
static_cast<std::size_t>(cloud_ptr->size()),
static_cast<std::size_t>(cloud_no_nans->size()));
// Estimate the normals
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
ne.setInputCloud (cloud_no_nans);
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree_n (new pcl::search::KdTree<pcl::PointXYZ>());
ne.setSearchMethod (tree_n);
ne.setRadiusSearch (0.03);
ne.compute (*cloud_normals);
pcl::console::print_highlight("Normals are computed and size is %zu\n",
static_cast<std::size_t>(cloud_normals->size()));
// Region growing
pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> rg;
rg.setSmoothModeFlag (false); // Depends on the cloud being processed
rg.setInputCloud (cloud_no_nans);
rg.setInputNormals (cloud_normals);
std::vector <pcl::PointIndices> clusters;
pcl::StopWatch watch;
rg.extract (clusters);
pcl::console::print_highlight ("Extraction time: %f\n", watch.getTimeSeconds());
cloud_segmented = rg.getColoredCloud ();
// Writing the resulting cloud into a pcd file
pcl::console::print_highlight("Number of segments done is %zu\n",
static_cast<std::size_t>(clusters.size()));
writer.write<pcl::PointXYZRGB> ("segment_result.pcd", *cloud_segmented, false);
if (pcl::console::find_switch (argc, av, "-dump"))
{
pcl::console::print_highlight ("Writing clusters to clusters.dat\n");
std::ofstream clusters_file;
clusters_file.open ("clusters.dat");
for (std::size_t i = 0; i < clusters.size (); ++i)
{
clusters_file << i << "#" << clusters[i].indices.size () << ":";
for (const auto& cluster_idx : clusters[i].indices)
clusters_file << " " << cluster_idx;
clusters_file << std::endl;
}
clusters_file.close ();
}
return (0);
}
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