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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012-, 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 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: normal_estimation.cpp 4990 2012-03-09 08:30:36Z rusu $
*
*/
#include <pcl/PCLPointCloud2.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
print_info (" where options are:\n");
print_info (" -viewpoint Tx,Ty,Tz,Qw,Qx,Qy,Qz\n");
}
bool
loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud)
{
Eigen::Vector4f translation;
Eigen::Quaternionf orientation;
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
tt.tic ();
if (loadPCDFile (filename, cloud, translation, orientation) < 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 ("VIEWPOINT information is: ");
print_value ("%.2f %.2f %.2f / %.2f %.2f %.2f %.2f\n",
translation.x (), translation.y (), translation.z (),
orientation.w (), orientation.x (), orientation.y (), orientation.z ());
return (true);
}
void
saveCloud (const std::string &filename,
const Eigen::Vector4f &translation,
const Eigen::Quaternionf &orientation,
const pcl::PCLPointCloud2 &output)
{
TicToc tt;
tt.tic ();
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
PCDWriter w;
w.writeBinaryCompressed (filename, output, translation, orientation);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}
/* ---[ */
int
main (int argc, char** argv)
{
print_info ("Change viewpoint information in a PCD file. For more information, use: %s -h\n", argv[0]);
if (argc < 4)
{
printHelp (argc, argv);
return (-1);
}
Eigen::Vector4f translation = Eigen::Vector4f::Zero ();
Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity ();
std::vector<float> values;
if (parse_x_arguments (argc, argv, "-viewpoint", values) > -1)
{
if (values.size () == 7)
{
translation = Eigen::Vector4f (values[0], values[1], values[2], 0.0f);
orientation = Eigen::Quaternionf (values[3], values[4], values[5], values[6]);
}
else
{
print_error ("Wrong number of values given (%lu): ", values.size ());
print_error ("The VIEWPOINT specified with -viewpoint must contain 7 elements (tx, ty, tz, qw, qx, qy, qz).\n");
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 one input PCD file and one output PCD file to continue.\n");
return (-1);
}
// Load the first file
pcl::PCLPointCloud2 cloud;
if (!loadCloud (argv[p_file_indices[0]], cloud))
return (-1);
print_info ("Saving output PCD file with the following VIEWPOINT information: ");
print_value ("%.2f %.2f %.2f / %.2f %.2f %.2f %.2f\n",
translation.x (), translation.y (), translation.z (),
orientation.w (), orientation.x (), orientation.y (), orientation.z ());
// Save into the second file
saveCloud (argv[p_file_indices[1]], translation, orientation, cloud);
}
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