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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/console/parse.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/icp_nl.h>
#include <pcl/registration/incremental_registration.h>
#include <string>
#include <iostream>
#include <fstream>
#include <vector>
typedef pcl::PointXYZ PointType;
typedef pcl::PointCloud<PointType> Cloud;
typedef Cloud::ConstPtr CloudConstPtr;
typedef Cloud::Ptr CloudPtr;
int
main (int argc, char **argv)
{
double dist = 0.05;
pcl::console::parse_argument (argc, argv, "-d", dist);
double rans = 0.05;
pcl::console::parse_argument (argc, argv, "-r", rans);
int iter = 50;
pcl::console::parse_argument (argc, argv, "-i", iter);
bool nonLinear = false;
pcl::console::parse_argument (argc, argv, "-n", nonLinear);
std::vector<int> pcd_indices;
pcd_indices = pcl::console::parse_file_extension_argument (argc, argv, ".pcd");
pcl::IterativeClosestPoint<PointType, PointType>::Ptr icp;
if (nonLinear)
{
std::cout << "Using IterativeClosestPointNonLinear" << std::endl;
icp.reset (new pcl::IterativeClosestPointNonLinear<PointType, PointType> ());
}
else
{
std::cout << "Using IterativeClosestPoint" << std::endl;
icp.reset (new pcl::IterativeClosestPoint<PointType, PointType> ());
}
icp->setMaximumIterations (iter);
icp->setMaxCorrespondenceDistance (dist);
icp->setRANSACOutlierRejectionThreshold (rans);
pcl::registration::IncrementalRegistration<PointType> iicp;
iicp.setRegistration (icp);
for (size_t i = 0; i < pcd_indices.size (); i++)
{
CloudPtr data (new Cloud);
if (pcl::io::loadPCDFile (argv[pcd_indices[i]], *data) == -1)
{
std::cout << "Could not read file" << std::endl;
return -1;
}
if (!iicp.registerCloud (data))
{
std::cout << "Registration failed. Resetting transform" << std::endl;
iicp.reset ();
iicp.registerCloud (data);
};
CloudPtr tmp (new Cloud);
pcl::transformPointCloud (*data, *tmp, iicp.getAbsoluteTransform ());
std::cout << iicp.getAbsoluteTransform () << std::endl;
std::string result_filename (argv[pcd_indices[i]]);
result_filename = result_filename.substr (result_filename.rfind ("/") + 1);
pcl::io::savePCDFileBinary (result_filename.c_str (), *tmp);
std::cout << "saving result to " << result_filename << std::endl;
}
return 0;
}
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