sensor_msgs::PointCloud2 mergeVectorOfClouds(const std::vector<sensor_msgs::PointCloud2> &clouds)
{
int n_points = clouds[0].height * clouds[0].width;
int n_clouds = clouds.size();
//all the indices
std::vector<int> indices(n_points);
for (int i = 0; i < n_points; ++i)
{
indices.at(i) = i;
}
sensor_msgs::PointCloud2::Ptr sm_cloud (new sensor_msgs::PointCloud2); //out cloud
sensor_msgs::PointCloud2::Ptr sm_tmp (new sensor_msgs::PointCloud2); //temporary cloud
*sm_cloud = clouds[0];
//now loop on scalar fields and merge them
for (int i = 1; i < n_clouds; ++i)
{
pcl::copyPointCloud(*sm_cloud, indices, *sm_tmp);
pcl::concatenateFields(*sm_tmp, clouds[i], *sm_cloud);
}
return *sm_cloud;
}
int ExtractSIFT::compute()
{
ccPointCloud* cloud = getSelectedEntityAsCCPointCloud();
if (!cloud)
return -1;
PCLCloud::Ptr sm_cloud (new PCLCloud);
std::vector<std::string> req_fields;
req_fields.resize(2);
req_fields[0] = "xyz"; // always needed
switch (m_mode)
{
case RGB:
req_fields[1] = "rgb";
break;
case SCALAR_FIELD:
req_fields[1] = m_field_to_use;
break;
}
cc2smReader converter;
converter.setInputCloud(cloud);
converter.getAsSM(req_fields, *sm_cloud);
//Now change the name of the field to use to a standard name, only if in OTHER_FIELD mode
if (m_mode == SCALAR_FIELD)
{
int field_index = pcl::getFieldIndex(*sm_cloud, m_field_to_use_no_space);
sm_cloud->fields.at(field_index).name = "intensity"; //we always use intensity as name... even if it is curvature or another field.
}
//initialize all possible clouds
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_i (new pcl::PointCloud<pcl::PointXYZI>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_rgb (new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZ>::Ptr out_cloud (new pcl::PointCloud<pcl::PointXYZ>);
//Now do the actual computation
if (m_mode == SCALAR_FIELD)
{
FROM_PCL_CLOUD(*sm_cloud, *cloud_i);
estimateSIFT<pcl::PointXYZI, pcl::PointXYZ>(cloud_i, out_cloud, m_nr_octaves, m_min_scale, m_nr_scales_per_octave, m_min_contrast );
}
else if (m_mode == RGB)
{
FROM_PCL_CLOUD(*sm_cloud, *cloud_rgb);
estimateSIFT<pcl::PointXYZRGB, pcl::PointXYZ>(cloud_rgb, out_cloud, m_nr_octaves, m_min_scale, m_nr_scales_per_octave, m_min_contrast );
}
PCLCloud::Ptr out_cloud_sm (new PCLCloud);
TO_PCL_CLOUD(*out_cloud, *out_cloud_sm);
if ( (out_cloud_sm->height * out_cloud_sm->width) == 0)
{
//cloud is empty
return -53;
}
ccPointCloud* out_cloud_cc = sm2ccConverter(out_cloud_sm).getCCloud();
if (!out_cloud_cc)
{
//conversion failed (not enough memory?)
return -1;
}
std::stringstream name;
if (m_mode == RGB)
name << "SIFT Keypoints_" << m_nr_octaves << "_" << "rgb" << "_" << m_min_scale << "_" << m_nr_scales_per_octave << "_" << m_min_contrast;
else
name << "SIFT Keypoints_" << m_nr_octaves << "_" << m_field_to_use_no_space << "_" << m_min_scale << "_" << m_nr_scales_per_octave << "_" << m_min_contrast;
out_cloud_cc->setName(name.str().c_str());
out_cloud_cc->setDisplay(cloud->getDisplay());
if (cloud->getParent())
cloud->getParent()->addChild(out_cloud_cc);
emit newEntity(out_cloud_cc);
return 1;
}