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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2012, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
* Copyright (c) 2014, RadiantBlue Technologies, 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.
*
* $Id$
*/
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <pcl/search/kdtree.h>
using namespace std;
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
using namespace pcl::search;
typedef PointXYZ PointType;
typedef PointCloud<PointXYZ> Cloud;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s cloud_a.pcd cloud_b.pcd\n", argv[0]);
}
bool
loadCloud (const std::string &filename, Cloud &cloud)
{
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
tt.tic ();
if (loadPCDFile (filename, cloud) < 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", pcl::getFieldsList (cloud).c_str ());
return (true);
}
void
compute (Cloud &cloud_a, Cloud &cloud_b)
{
// Estimate
TicToc tt;
tt.tic ();
print_highlight (stderr, "Computing ");
// compare A to B
pcl::search::KdTree<PointType> tree_b;
tree_b.setInputCloud (cloud_b.makeShared ());
float max_dist_a = -std::numeric_limits<float>::max ();
for (size_t i = 0; i < cloud_a.points.size (); ++i)
{
std::vector<int> indices (1);
std::vector<float> sqr_distances (1);
tree_b.nearestKSearch (cloud_a.points[i], 1, indices, sqr_distances);
if (sqr_distances[0] > max_dist_a)
max_dist_a = sqr_distances[0];
}
// compare B to A
pcl::search::KdTree<PointType> tree_a;
tree_a.setInputCloud (cloud_a.makeShared ());
float max_dist_b = -std::numeric_limits<float>::max ();
for (size_t i = 0; i < cloud_b.points.size (); ++i)
{
std::vector<int> indices (1);
std::vector<float> sqr_distances (1);
tree_a.nearestKSearch (cloud_b.points[i], 1, indices, sqr_distances);
if (sqr_distances[0] > max_dist_b)
max_dist_b = sqr_distances[0];
}
max_dist_a = std::sqrt (max_dist_a);
max_dist_b = std::sqrt (max_dist_b);
float dist = std::max (max_dist_a, max_dist_b);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : ");
print_info ("A->B: "); print_value ("%f", max_dist_a);
print_info (", B->A: "); print_value ("%f", max_dist_b);
print_info (", Hausdorff Distance: "); print_value ("%f", dist);
print_info (" ]\n");
}
/* ---[ */
int
main (int argc, char** argv)
{
print_info ("Compute Hausdorff distance between point clouds. For more information, use: %s -h\n", argv[0]);
if (argc < 3)
{
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 two PCD files to compute Hausdorff distance.\n");
return (-1);
}
// Load the first file
Cloud::Ptr cloud_a (new Cloud);
if (!loadCloud (argv[p_file_indices[0]], *cloud_a))
return (-1);
// Load the second file
Cloud::Ptr cloud_b (new Cloud);
if (!loadCloud (argv[p_file_indices[1]], *cloud_b))
return (-1);
// Compute the Hausdorff distance
compute (*cloud_a, *cloud_b);
}
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