int main (int argc, char** argv)
{
if (argc != 3)
{
ROS_INFO_STREAM("please provide a pointcloud file followed by a text file containing a transformation matrix as arguments");
exit(0);
}
pcl::PCDReader reader;
pcl::PointCloud<PointType>::Ptr cloudIn (new pcl::PointCloud<PointType>);
pcl::PointCloud<PointType>::Ptr cloudOut (new pcl::PointCloud<PointType>);
pcl::PointCloud<PointType>::Ptr cloudOut_inv (new pcl::PointCloud<PointType>);
Eigen::Matrix4f trafo, trafo_inv;
reader.read (argv[1], *cloudIn);
std::ifstream myfile;
myfile.open (argv[2]);
for (int row = 0; row < 4; row++)
for (int col = 0; col < 4; col++)
{
myfile >> trafo (row, col);
}
trafo_inv = trafo.inverse();
ROS_INFO_STREAM("transform to be used: \n" << trafo);
transformPointCloud (*cloudIn, *cloudOut, trafo);
transformPointCloud (*cloudIn, *cloudOut_inv, trafo_inv);
pcl::PCDWriter writer;
writer.write ("output.pcd", *cloudOut, false);
writer.write ("output_inverse.pcd", *cloudOut_inv, false);
return (0);
}
int main (int argc, const char * argv[])
{
std::string listFileName, pcdFileName;
std::string pcdFileFullName, shotFileFullName;
std::string pcdFilePath, outputFileName, shotDir;
std::string kernelType, kernelSize;
fstream outputFile, listFile, shotFile;
//argument processing
if (argc < 5)
{
std::cout << "shotFeature: Extracts SHOT features from pdc file." << endl << "Usage:" << endl << "shotFeature listFile outputFile kernelSizeType kernelSize [loadPathPrefix] [saveDirectory]" << endl;
std::cout << "listFile is the name of file that contains the list of input pointcloud files" << endl;
std::cout << "outputFile is the name of file where the extracted features will be saved" << endl;
std::cout << "kernelType : possible values are: metric , knn" << endl;
std::cout << "kernelSize: size of the kernel, depending on the kernelType it might be either in cm for metric or k for knn" << endl;
std::cout << "[loadPathPrefix]: path prefix for loading pcd files";
std::cout << "[saveDirectory]: path prefix of destination directory for saving individual feature files separately.";
return 0;
}
listFileName = argv[1];
outputFileName = argv[2];
kernelType = argv[3];
kernelSize = argv[4];
if (argc > 5) { pcdFilePath = argv[5]; }
if (argc > 6) { shotDir = argv[6]; }
transform (kernelType.begin (), kernelType.end (), kernelType.begin (), (int(*)(int)) tolower);
if ( (kernelType.compare("metric") != 0) && (kernelType.compare("knn") != 0) )
{
cout << "Error: Invalid kernelType:" << kernelType << endl;
return -1;
}
outputFile.open(outputFileName.c_str(), ios::out);
listFile.open(listFileName.c_str(), ios::in);
while (!listFile.eof())
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudIn (new pcl::PointCloud<pcl::PointXYZ>);
pcl::SHOTEstimation<pcl::PointXYZ,pcl::Normal,pcl::SHOT> shotExtractor;
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
pcl::KdTreeFLANN<pcl::PointXYZ>::Ptr tree (new pcl::KdTreeFLANN<pcl::PointXYZ> ());
pcl::KdTreeFLANN<pcl::PointXYZ>::Ptr tree2 (new pcl::KdTreeFLANN<pcl::PointXYZ> ());
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
pcl::PointCloud<pcl::SHOT>::Ptr cloudShot (new pcl::PointCloud<pcl::SHOT> ());
listFile >> pcdFileName;
cout << "Loading file:" << pcdFileName << endl;
if (argc > 5) { pcdFileFullName = pcdFilePath + "/" + pcdFileName; }
else { pcdFileFullName = pcdFileName; }
//loading pcd file
pcl::io::loadPCDFile (pcdFileFullName, *cloudIn);
//estimating input normals
cout << "calculating normal…" << endl;
ne.setInputCloud (cloudIn);
ne.setSearchMethod (tree);
ne.setRadiusSearch (0.03);// Use all neighbors in a sphere of radius 3cm
ne.compute (*cloud_normals);
//extract shot features for the input cloud
cout << "extracting shot features…" << endl;
shotExtractor.setInputCloud (cloudIn);
shotExtractor.setInputNormals(cloud_normals);
shotExtractor.setSearchMethod(tree2);
//if(kernelType.compare("metric")==0)
shotExtractor.setRadiusSearch(atof(kernelSize.c_str()));
//else
//shotExtractor.setKSearch(atof(kernelSize.c_str()));
shotExtractor.compute(*cloudShot);
//save the result to the outputFile
cout << "saving to file…" << endl;
for(int i=0;i<cloudShot->size();i++)
{
for(int j=0;j<cloudShot->points[i].descriptor.size();j++)
{
outputFile << cloudShot->points[i].descriptor[j] << " ";
}
outputFile << endl;
}
if(argc>6)//save individual shot feature files in shotDir
{
shotFileFullName = shotDir + "/" + pcdFileName.substr(0,pcdFileName.size()-3) + "txt";
cout << "saving individual shot file:" << shotFileFullName << endl;
shotFile.open(shotFileFullName.c_str(),ios::out);
for(int i=0;i<cloudShot->size();i++)
{
for(int j=0;j<cloudShot->points[i].descriptor.size();j++)
{
shotFile << cloudShot->points[i].descriptor[j] << " ";
}
shotFile << endl;
}
shotFile.close();
}
cout << " done" << endl;
}
listFile.close();
outputFile.close();
return 0;
}