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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 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 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/filters/crop_hull.h>
#include <pcl/io/pcd_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <pcl/surface/concave_hull.h>
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
typedef PointXYZ PointT;
typedef PointCloud<PointT> CloudT;
const static double default_alpha = 1e3f;
static void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s hull_cloud.pcd input.pcd output.pcd <options>\n", argv[0]);
print_info (" where options are:\n");
print_info (" -alpha X = the hull alpha value (0+) (default: ");
print_value ("%f", default_alpha);
print_info (")\n");
}
static bool
loadCloud (std::string const& filename, CloudT &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);
}
static void
saveCloud (std::string const& filename, CloudT const& cloud)
{
TicToc tt;
tt.tic ();
print_highlight ("Saving ");
print_value ("%s ", filename.c_str ());
pcl::io::savePCDFile (filename, cloud);
print_info ("[done, ");
print_value ("%g", tt.toc ());
print_info (" ms : ");
print_value ("%d", cloud.width * cloud.height);
print_info (" points]\n");
}
static void
cropToHull (CloudT::Ptr output, CloudT::Ptr input, CloudT::Ptr hull_cloud, std::vector<pcl::Vertices> const& polygons, int dim)
{
TicToc tt;
tt.tic ();
print_highlight ("Cropping ");
CropHull<PointT> crop_filter;
crop_filter.setInputCloud (input);
crop_filter.setHullCloud (hull_cloud);
crop_filter.setHullIndices (polygons);
crop_filter.setDim (dim);
crop_filter.filter (*output);
print_info ("[done, ");
print_value ("%g", tt.toc ());
print_info (" ms : ");
print_value ("%d", output->size());
print_info (" points passed crop]\n");
}
static CloudT::Ptr
calculateHull (std::vector<pcl::Vertices>& polygons, int& dim, CloudT::Ptr cloud, double alpha)
{
pcl::ConcaveHull<PointT> hull_calculator;
CloudT::Ptr hull (new CloudT);
hull_calculator.setInputCloud (cloud);
hull_calculator.setAlpha (alpha);
hull_calculator.reconstruct (*hull, polygons);
dim = hull_calculator.getDimension ();
return hull;
}
int
main (int argc, char** argv)
{
print_info ("Filter a point cloud using the convex hull of another point "
"cloud. For more information, use: %s -h\n", argv[0]);
if (argc < 4)
{
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 () != 3)
{
print_error ("Need at least three pcd files to continue.\n");
return (-1);
}
// Command line parsing
double alpha = default_alpha;
parse_argument (argc, argv, "-alpha", alpha);
CloudT::Ptr hull_cloud (new CloudT);
CloudT::Ptr hull_points (new CloudT);
CloudT::Ptr input_cloud (new CloudT);
CloudT::Ptr output_cloud (new CloudT);
std::vector<pcl::Vertices> hull_polygons;
int dim = 0;
if (!loadCloud (argv[p_file_indices[0]], *hull_cloud))
return (-1);
if (!loadCloud (argv[p_file_indices[1]], *input_cloud))
return (-1);
hull_points = calculateHull (hull_polygons, dim, hull_cloud, alpha);
cropToHull (output_cloud, input_cloud, hull_points, hull_polygons, dim);
if (output_cloud->size ())
saveCloud (argv[p_file_indices[2]], *output_cloud);
else
print_error ("No points passed crop.\n");
return (0);
}
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